Like-pole opposite oblique magnetic electric execution assembly, system and control method

Abstract

The application relates to a magnetic and electric execution technology and discloses a same-pole opposite oblique magnetic and electric execution assembly, a system and a control method. The assembly comprises two magnetic action units which are oppositely arranged across a magnetic working gap; the first unit comprises an oblique magnetic field execution module, a magnetic source position is fixed relative to a mounting reference, and a complete function area is determined by a working surface physical boundary; the second unit comprises a permanent magnet structure, an electromagnetic execution structure or a combination of both. Under the condition of self-field evaluation without the opposite side, the normal and tangential signed area average magnetic flux density on the complete projection of the area are both non-zero. At a predetermined driving action position and a corresponding excitation state, the corresponding local areas on both sides are opposite in the same pole, and the first unit is simultaneously subjected to a normal component force which increases the gap and a tangential component force in a predetermined direction. The electromagnetic form comprises an effective current-carrying strip, end connection and a complete conduction path formed by a common return; the system is used for driving and normal support or unloading through excitation connection and power generation control of independent electromagnetic groups.

Description

Technical Field

[0001] This invention relates to the field of magnetoelectric actuation and magnetoelectric power device technology, specifically to a magnetoelectric actuation component with opposite poles and oblique orientation, a magnetoelectric power system including the component, and a related control method. Background Technology

[0002] Magnetoelectric power devices convert electrical energy into mechanical energy through the interaction between a magnetic field and magnetic components or current-carrying conductors. Tangential magnetic action contributes to the generation of output torque or driving force, while normal magnetic action affects the support load, relative position, and magnetic working clearance. The configuration of the magnetic source, relative installation relationship, and excitation method must coordinate these effects.

[0003] In mechanically supported motors, the normal magnetic load is borne or balanced by bearings, the frame, and related support components. Existing magnetic levitation motors, bearingless motors, and other magnetoelectric actuators combine support and drive functions through magnetic circuit configuration and control methods. Axial flux magnetic levitation motors also involve levitation force, horizontal force, and magnetic field variations under non-uniform gap conditions; the coordination relationships of each structure need to be determined according to the stress object, load distribution, and control method.

[0004] Oblique magnetic fields can be formed through methods such as tilting the magnetization direction, progressive magnetization directions of multiple magnetic units, overall biasing of magnetic units, and non-uniform geometric configurations. When using a Halbach array or other multi-unit combinations, the magnetic field distribution is related to the magnetization direction, size, and relative position of each unit. US Patent Document US20240258850A1 (publication date: August 1, 2024) describes a Halbach rotor using normal and tangential magnetization sections, and coordinates the radial load on different magnetization sections by matching the shape of the magnet side. When using a single block or other non-Halbach magnetic source, the magnetic field distribution is also affected by the magnet shape, magnetization configuration, and surrounding magnetic components. The magnetization direction, the direction of the spatial magnetic field, and the direction of the total force after installation have different meanings. A single magnetization angle or local magnetic field direction is insufficient to fully characterize the driving characteristics of the magnetic action unit. For modules that need to be installed, combined, or replaced independently, it is also necessary to clarify the relationship between the magnetic source orientation, the working surface, and the installation relationship, as well as the correspondence between the module attributes and the installed magnetic action.

[0005] When the magnetic structures on both sides are arranged facing each other with a magnetic working gap, the like poles in corresponding local areas can form a magnetic repulsion. Under the corresponding magnetic source configuration, relative position, and excitation state, the magnetic effect has both normal and tangential components. The local like poles do not directly determine the direction of the tangential effect throughout the entire operating cycle; the spatial arrangement, relative position, current building-up, and decay processes of the magnetic components all affect the total force or total torque, which requires determining the predetermined driving position, allowable excitation range, and corresponding excitation state.

[0006] In electromagnetic actuators, the working conductor, end connections, and return section together constitute a complete current loop. Round wire windings, shaped windings, and flat wire windings have different conductor arrangements and connection methods. The related designs involve not only conductor cross-sections but also insulation, end space, parallel branches, connection processes, and heat dissipation paths. International patent document WO2022002378A1 (publication date: January 6, 2022) describes two sets of conductors located at different levels, forming a winding coil through subgroups and overlapping connection areas, demonstrating how conductor layer positions and connection relationships jointly define the complete path. When using flat wire or hairpin windings, the spatial arrangement of the conductors needs to be adapted to the requirements of shaping, insertion, end connections, and insulation; conductor size, number of layers, branch connections, and operating frequency also affect AC losses and temperature rise. When using strip-shaped conductors, the relationship between the effective working section, connection section, and return section also needs to be clearly defined; simply relying on the flat shape of the conductor is insufficient to fully explain the magnetic field distribution and loss characteristics of the entire module.

[0007] When current paths span different modules, or when components such as the casing or yoke serve multiple functions to conduct electricity, the electrical connections and mechanical assembly of the modules may become interdependent. For independently installed and controlled electromagnetic modules, it is necessary to clearly define the complete current path between terminals, as well as the relationship between this path and the working area and magnetic source configuration. Describing only local working conductors makes it difficult to fully determine the electrical boundaries of the module, and also makes it difficult to explain the impact of return sections and end connections on the overall magnetic effect of the module.

[0008] The magnetic working gap and the position of the conductor relative to the magnetic source are important factors in the structural design of magnetoelectric devices. The gap between the two magnetic action units, the distance between the magnet and the conductor inside the module, and the observation offset used for magnetic field evaluation all correspond to different physical objects. Changing these distances may affect the magnetic coupling of the device, the magnetic field at the conductor's location, or the magnetic field evaluation results, and they need to be distinguished according to their respective objects of action. The magnetic flux density within the gap and the magnetic action of the device are also related to the magnet size, magnetization direction, leakage flux, magnetic conductive components, excitation state, and relative position, and cannot be determined solely by the gap size or the relative relationship of like poles. Therefore, the relative arrangement of the magnetic source and the conductor needs to be analyzed in conjunction with the complete current loop and the device's action, and coordinated with insulation, heat dissipation, assembly tolerances, and movement space requirements.

[0009] Normal magnetic repulsion can bear part of the load in a specified direction or reduce the burden on mechanical supports. Changes in magnetic force and torque after radial, axial, or attitude offsets, together with the support structure, damping, and control, determine operational stability. In high-speed or small-clearance structures, tangential output changes may also be accompanied by changes in normal load and clearance, requiring coordination of drive state and load distribution under corresponding operating conditions.

[0010] In terms of excitation control, the moving position, current direction, current amplitude, and energizing sequence all affect the driving effect of the magnetoelectric device. US Patent Document US4684867A (publication date: August 4, 1987) describes a regenerative unipolar converter for a switched reluctance motor, which arranges excitation and shutdown according to the rotor position and utilizes freewheeling and capacitor energy storage paths to accelerate phase current decay and recover magnetic field energy. The establishment and decay of the actual current are affected by factors such as branch inductance, terminal voltage, and dynamic electromotive force; the geometrically effective position range is not directly equivalent to the actual permissible energizing range. For devices using grouped excitation, it is necessary to handle the relationship between the entry, exit, and handover of each group and the actual current changes to avoid maintaining current at inappropriate positions, which could generate adverse tangential effects or additional loads. For control methods using a fixed reference current direction, it is also necessary to clarify the correspondence between the reference direction and the actual terminals and current states, and to handle group selection, amplitude adjustment, freewheeling, and exit processes.

[0011] Variable flux technology already exists to adjust the flux linkage or magnetic field state in various ways. Among these, the variable flux memory motor can use charge / demagnetize current pulses to change the magnetization level of a permanent magnet and maintain the corresponding magnetization state after the pulse ends; other magnetization methods can achieve magnetic field adjustment through excitation current or magnetic circuit configuration. Independent group control mainly involves the arrangement of current, participation position, and operating state of different groups, which differs from the control mechanism of changing and maintaining the magnetization level of the permanent magnet. For group structures using independent electrical branches, changes in the current and operating state of each group can still affect other groups and moving components through a common magnetic field. The independence of the electrical branches does not directly correspond to the independence of magnetic action; therefore, it is necessary to address the relationship between group participation, excitation continuity, total tangential output, normal load, and attitude influence.

[0012] When a magnetoelectric device serves both driving and power generation functions, it is also necessary to distinguish the energy exchange states of each group. When a group is in power generation mode, the energy output is related not only to the change in magnetic flux caused by motion, but also to the complete current path, port voltage, current, and energy reception conditions. Open-circuit voltage or rectified polarity alone is insufficient to fully characterize the actual energy output state. When a group exits power generation or stops participating in magnetic effects, the current decay and electrical interruption also need to be coordinated to handle the magnetic effects generated by branch energy storage, energy reception conditions, and residual current during the exit phase.

[0013] In axial disc configurations, the disc clearance is interrelated with axial magnetic action, disc deformation, tilt, and assembly errors; the magnet, conductor, insulation, support, and heat dissipation structures must also be fitted together within a limited axial space. When using modular magnetic action units and group control, it is necessary to consider the module installation relationship and the action of each group to address torque output, clearance uniformity, and normal load; the device cannot be evaluated solely based on local magnetic flux density or local tangential action.

[0014] The applicant's prior published Chinese patent document CN121923524B (authorization announcement date: June 26, 2026, invention title: "A Single-Sided Oblique Thrust Repulsive Magnetic Levitation Power Device Based on Halbach Array", corresponding application publication number CN121923524A) describes a magnetic field generating module and a magnetic field response module arranged opposite to each other. Through the phase progressive magnetization of each magnetic unit of the Halbach array, the overall bias rotation angle, or the non-uniform asymmetric geometric configuration, oblique magnetic action with the same pole opposite each other is organized in the working gap; the document also describes permanent magnet, electromagnetic and hybrid magnetic source forms.

[0015] The applicant's previously published Chinese patent document CN122678356A (publication date: September 1, 2026, invention title: "Same-pole relative oblique peak thrust magnetoelectric power system and control method") describes a method for determining an effective working window based on relative position, selecting physical or virtual grouped magnetic field units, and controlling the energizing phase, current direction, current amplitude, or on / off state of the corresponding controllable magnetic field execution unit to maintain, continuously establish, or re-establish the target magnetic field relationship. This document organizes oblique magnetic action through structural phase-shifting, peak polarity-following commutation, or a combination of both, and describes a non-Halbach oblique peak gradient magnetic source, a partitioned electromagnetic conductive bridge, and drive and feedback state control.

[0016] When further adopting modular structures to construct magnetoelectric actuators and power systems, it is necessary to clarify the relationship between module attributes and installed effects under different magnetic source forms and assembly relationships. Local magnetic field distribution, magnetic field attributes of the complete module region, and the installed magnetic effect varying with relative position all involve different evaluation objects and conditions. Failure to distinguish these objects and conditions may affect the comparison between modules, the analysis of post-assembly effects, and the determination of control conditions.

[0017] Therefore, for two-sided magnetoelectric actuators employing oblique magnetic action, it is necessary to address the relationship between magnetic source configuration, working area and relative installation relationship and tangential action, normal load and magnetic working gap; for implementations including electromagnetic actuators, it is also necessary to clarify the relationship between the complete current path and magnetic action; in a power system composed of the above components, it is necessary to coordinate the group participation, drive continuity and withdrawal process by combining the actual excitation dynamics and energy exchange state. Summary of the Invention

[0018] (a) Technical problems to be solved

[0019] At the component level, the technical problem to be solved by the present invention is to clarify the magnetic source configuration, working area and relative installation relationship between the oblique magnetic field execution module and the opposite side cooperating structure, as well as the connection between the above relationship and the local same pole relative, tangential drive and normal support or unloading in the same installed state.

[0020] In embodiments that include electromagnetic actuation structures, a further technical problem to be solved by the present invention is to clearly define the complete current path and module electrical boundary formed by the working conductor, end connection and return portion, so that the relationship between the complete path and the module magnetic action can be determined.

[0021] At the system and control method level, the technical problem to be solved by the present invention is to adapt the group participation, drive continuity and power generation shutdown to the actual excitation dynamics and energy exchange state, and to coordinate the tangential output with the normal, radial or attitude additional loads in the corresponding implementation.

[0022] (II) Technical Solution

[0023] To solve the above-mentioned technical problems, the present invention provides a same-pole relative oblique magnetoelectric actuator, a magnetoelectric power system including the actuator, a group excitation connection method and a group power generation control method.

[0024] 1. Same-pole opposite oblique magnetoelectric actuator

[0025] The component includes a first magnetic action unit and a second magnetic action unit capable of relative movement, with the magnetic working surfaces of the two magnetic action units facing each other across a magnetic working gap. The first magnetic action unit includes an oblique magnetic field actuation module, and the second magnetic action unit includes a permanent magnet structure, an electromagnetic actuation structure, or a combination of permanent magnet and electromagnetic structures that cooperate with the oblique magnetic field actuation module.

[0026] The oblique magnetic field execution module includes a module body, a magnetic working surface, and a magnetic source assembly fixed to the module body. The module body has a mounting reference and a fastening interface. The magnetic source assembly and the module body form a fixed assembly that can be installed independently and maintain a predetermined orientation relative to the mounting reference. The orientation of the magnetic source assembly, the orientation of the module's magnetic working surface, and the module's installation position correspond to each other through the aforementioned fixed relationship.

[0027] The installation reference part includes a positioning reference surface, a reference point, and a directed reference line. The position of the reference point projected onto the magnetic working surface along its local normal is taken as the local coordinate origin. The positioning reference surface determines the local unit normal at this origin towards the magnetic working gap. The reference unit tangent is determined by the normalization of the non-zero projection of the directed baseline onto the tangent plane of the magnetic working surface at the origin. The local unit normal and reference unit tangent are fixed relative to the module, not derived from the magnetic field evaluation results, nor changed with the target motion direction in the running command.

[0028] The magnetic working surface has a complete functional area defined by the module structure. The boundary of the area and its position relative to the mounting reference part are determined by the identifiable structural edges on the module and the corresponding geometric dimensions.

[0029] The pure permanent magnet form uses a single continuous permanent magnet or a complete top surface of a continuous magnet body facing the gap, or a union of multiple complete top surfaces of permanent magnet components facing the gap. Gaps between components that do not belong to any of these top surfaces are not included. The pure electromagnetic form uses the working side surface area enclosed by the actual complete outer contour of the magnetic working surface. The outer contour is determined by the intersection of the magnetic working surface with the side surface, end face, or recessed step. The insulation and gap areas between conductors within this outer contour are also included. The form where permanent magnet and electromagnetic coexist uses the same complete functional area on the magnetic working surface of the module. The regional boundaries of both the pure electromagnetic form and the form where permanent magnet and electromagnetic coexist are determined by the above-mentioned structural edges and geometric dimensional relationships.

[0030] Projecting the complete functional area onto a predetermined observation plane along the local unit normal, thus obtaining the working observation area. The predetermined observation plane is parallel to the tangent plane of the magnetic working surface at the local coordinate origin, and the position of the observation plane relative to the mounting reference part is determined by a predetermined normal offset dimension. The working observation area and the observation plane are fixed relative to the module and move with the module, and are not changed or trimmed according to the magnetic field evaluation results or relative position.

[0031] Under the condition of evaluating the module's own field, the entire module structure is retained, without setting a second magnetic action unit or any external magnetic components to enhance or deflect the magnetic field. The module's own return magnetic components, magnetic guiding components, and auxiliary permanent magnet components are all retained.

[0032] For pure permanent magnet conductors, the self-field evaluation state is without the application of external excitation current; for conductors containing electromagnetic excitation, a stable DC current is applied according to the specified terminal polarity and specified current amplitude. The specified current amplitude is a non-zero value determined before the magnetic field evaluation and remaining unchanged during this evaluation process. The actual allowable operating current is determined separately based on the conductor's allowable temperature rise, insulation class, and energizing conditions.

[0033] Under the above conditions, the magnetic flux density formed by the magnetic source component and the magnetic components of the module itself. The mean components of the normal and tangential areas over the entire observation area are both non-zero, satisfying the following conditions respectively:

[0034]

[0035]

[0036] In the formula, For work observation area The area; both area average components are area averages that retain the projection symbol. The two area average components are provided by the magnetic field generated by the tilted magnetization or tilted excitation of the same magnetic action zone, or are jointly formed by the magnetic fields generated by multiple permanent magnet magnetic action zones fixed in the same module body.

[0037] The module's own field evaluation is used to determine the magnetic field properties of the module under specified environmental and excitation conditions. During component installation and operation, a second magnetic action unit is set up, and the combined installed magnetic field formed by both sides and the resultant force acting on the magnetic action unit are separately determined.

[0038] The installation relationship between the first and second magnetic action units, the installed magnetic action relationship, and the allowable current when an electromagnetic actuator is included jointly determine at least one predetermined driving action position and the corresponding excitation state for each position. The installed magnetic action relationship includes the relationship used to determine the change of the total driving force or total torque with relative position and excitation state.

[0039] At any of the predetermined driving positions and their corresponding excitation states, the pairs of corresponding local areas that are actually facing each other, determined by the structure of the two working surfaces and their relative installation positions, are either both N poles or both S poles, forming a local same-pole relative relationship.

[0040] The local polarity of each side is determined by the magnetic field generated by the magnetic source on the corresponding local working surface gap side, relative to the outward normal direction towards the gap: the field exiting into the gap is the N pole, and the field entering into that side is the S pole. Local polarity determination retains the magnetic components on each side and uses the corresponding excitation state; when permanent magnets and electromagnetic fields coexist, the field formed by both parts on that side is considered, and the polarity of the two sides is not determined separately by the combined field of the two sides. When multiple local regions exist, the relative polarities of the same poles between the actually facing local regions are determined pair by pair.

[0041] In the same installed state described above, the resultant magnetic force acting on the first magnetic action unit has both a normal component and a tangential component. The normal component is along the opposite direction of the local unit normal, towards the direction that increases the magnetic working gap, and is used to provide normal support or unloading. The projection of the tangential component onto the tangential direction of the reference unit is non-zero, and the projection sign is consistent with the predetermined driving direction corresponding to the predetermined driving action position. The predetermined driving direction is either the positive or negative direction of the tangential direction of the reference unit.

[0042] 2. Specific form of magnetic source assembly and mounting reference

[0043] In one embodiment, the magnetic source assembly of the oblique magnetic field actuation module includes a single continuous permanent magnet with a single magnetization direction. This magnetization direction is inclined relative to a local unit normal of the magnetic working surface, and its projections onto both the local unit normal and the reference unit tangent are non-zero. The assembly employing this magnetic source configuration satisfies the aforementioned self-field conditions over the entire working observation area, as well as the local like-pole relative and force conditions in the installed state.

[0044] In another embodiment, the magnetic source assembly has a first permanent magnet active region and a second permanent magnet active region. The magnetization direction of the first permanent magnet active region is along the local unit normal, and the magnetization direction of the second permanent magnet active region is inclined relative to the local unit normal and has a non-zero projection on the reference unit tangential direction.

[0045] The two permanent magnet magnetic action regions can be formed by two areas within the same continuous magnet body with different magnetization directions and no mechanical interface, or they can be formed by a first permanent magnet component and a second permanent magnet component that are both fixed to the module body. The magnetic fields generated by the two permanent magnet magnetic action regions together form the normal area average component and the tangential area average component within the same working observation area.

[0046] In embodiments where a return magnetization component is provided, the module has an independent soft magnetic return magnetization component magnetically coupled to the magnetic source assembly. This return magnetization component is located on the side of the magnetic source assembly away from the magnetic working surface, or around its periphery, or simultaneously on the back side and around its periphery, and is fixed to the module body together with the magnetic source assembly. In embodiments without an independent soft magnetic return magnetization component, the module body employs a non-magnetic support structure. Both embodiments determine their respective fields according to their complete module structure.

[0047] The positioning reference surface is used to fit with the external carrier or support to determine the local unit normal; the directional reference line is used to align with the installation reference direction to determine the reference unit tangent; the fastening interface is used to fix the module positioned according to the installation reference part.

[0048] In one specific evaluation method, the magnetic working plane tangent at the local coordinate origin is used as a reference, and a predetermined distance is offset along the local unit normal. This yields a field evaluation reference plane. The complete projection of the entire functional area onto this reference plane constitutes the preset effective working area. The With work observation area For the same area. During evaluation, the module is positioned on the non-magnetic support according to the mounting reference, while retaining the magnetic components belonging to the module itself.

[0049] The The normal observation offset distance for its own field evaluation, the magnetic working gap between the magnetic action units on both sides, and the spacing between internal components of the module are determined respectively.

[0050] 3. Complete current path of the two-terminal electromagnetic module

[0051] In one embodiment including an electromagnetic excitation conductor group, the magnetic source assembly of the oblique magnetic field actuation module includes a first external electrical connection terminal and a second external electrical connection terminal. These two terminals respectively constitute two external terminals of the electromagnetic excitation conductor group, used to connect to an external power conversion branch, providing a drive input interface and an induced energy output interface.

[0052] The first external electrical connection terminal connects to the first ends of at least two parallel active current-carrying strips via a first-end shunt connector at a shunt node. The second ends of each active current-carrying strip connect to a second-end turn busbar via a second-end turn busbar, where they converge at a busbar node; after merging, they connect to the second external electrical connection terminal via a common return conductor group and a second-end return connector.

[0053] Based on the reference current direction determined by the first external electrical connection terminal as the current input terminal, the common return conductor group is located downstream of the bus node, carrying the return current after the convergence of each effective current-carrying strip. The conductor, connector, and external terminal are fixed to the same module before installation, forming an end-to-end continuous conductive path, and the working current returns without passing through the casing, the back yoke of the whole machine, or adjacent modules.

[0054] The determination of the module's own field retains the complete path mentioned above, so that the magnetic field formed by the effective current-carrying strip, end connection, and common return is included in the evaluation of the same module.

[0055] 4. Hybrid module with both permanent magnets and electromagnetic inertia

[0056] In another embodiment, the magnetic source assembly of the oblique magnetic field actuation module includes both a permanent magnet portion and an electromagnetic excitation portion that are jointly fixed to the module body. The electromagnetic excitation portion has a first external electrical connection terminal and a second external electrical connection terminal extending from the module.

[0057] When the entire structure of the module is retained and the electromagnetic excitation part is not energized, the permanent magnet part adopts the tilted magnetization of the same magnetic action area, or adopts the method of the magnetic fields generated by multiple permanent magnet magnetic action areas to form a non-zero normal area average magnetic flux density component and a non-zero tangential area average magnetic flux density component in the working observation area.

[0058] The electromagnetic excitation section provides controlled excitation increments under specified terminal polarity and specified current amplitude. Under stable DC excitation conditions, the module's own field, formed by the permanent magnet section, the electromagnetic excitation section, and the module's own magnetic components, still satisfies the condition that both of the aforementioned area average components are non-zero.

[0059] The unpowered state and the stable DC excitation state use the same module structure, the same complete functional area, and the same working observation area. The local polarity of each side in both states is determined according to the direction of entry and exit of the field on the corresponding local working surface gap side in the corresponding state.

[0060] 5. Magnetoelectric power system and device configuration

[0061] The present invention also provides a magnetoelectric power system, including a first moving component and a second moving component capable of relative motion, and the aforementioned obliquely oriented magnetoelectric actuation assembly with the same poles. A first magnetic actuation unit and a second magnetic actuation unit are respectively mounted on the first moving component and the second moving component. The obliquely oriented magnetic field actuation module is positioned according to its own mounting reference, with its magnetic working surface facing the magnetic working gap between the two magnetic actuation units.

[0062] For the Each oblique magnetic field execution module will, according to the aforementioned rules, operate along the local unit normal of the complete functional region defined by that module. The entire projection is onto the installation observation plane parallel to the tangent plane of the magnetic working surface at the local coordinate origin of the module, thus obtaining the local observation area. .

[0063] The position of the observation plane relative to the module mounting reference is determined and fixed before the magnetic field evaluation, and the local observation area moves with the module. At any of the predetermined driving positions, the entire local observation area is located within the actual magnetic working gap.

[0064] At the predetermined driving position and its corresponding excitation state, the combined magnetic flux density formed by the actual magnetic sources on both sides and the installed magnetic components is retained. Over the entire local observation area, both the average area components relative to the local unit normal and the reference unit tangent of the module are non-zero. The combined field of the installed components and the module's own field are determined at their respective observation positions and under specified states.

[0065] The system can adopt one of the following configurations: an axial disc configuration in which two moving components are arranged opposite each other through an axial magnetic working gap and can rotate relative to each other around a rotating axis; a cylindrical or ring configuration in which two moving components are arranged opposite each other through a radial magnetic working gap; a linear configuration in which relative motion is guided along a straight line; or a spherical configuration in which two moving components are arranged opposite each other through a spherical magnetic working gap.

[0066] Multiple oblique magnetic field actuators are arranged along circumferential, axial, linear, or spherical grids corresponding to the adopted configuration. At the predetermined driving position and its corresponding excitation state, corresponding local regions on both sides maintain the local same-pole relative relationship. When a module with an electromagnetic excitation conductor group is installed on the rotating side, it is connected to the corresponding electrical unit via a rotary power supply interface.

[0067] 6. Independent electromagnetic groups and their operating status

[0068] In a system implementation that includes an electromagnetic actuator, the system is configured with electromagnetic groups having independent excitation interfaces.

[0069] The electromagnetic group is composed of a module with an electromagnetic excitation conductor group and external electrical connection terminals in the oblique magnetic field actuation module, or it is composed of an electromagnetic actuation structure that cooperates with the permanent magnet type oblique magnetic field actuation module through a magnetic working gap. The electromagnetic actuation structure includes an excitation conductor and electrical terminals, and each electromagnetic group is connected to an independently controlled power conversion branch through its own electrical terminals.

[0070] The power conversion branch connects to the DC power supply interface and the power receiving device. The power receiving device can be an energy storage device, a load, or a bidirectional power supply device capable of receiving feedback power.

[0071] The system is equipped with control units to control each power conversion branch independently, controlling each electromagnetic group to either drive mode, generator mode, or standby mode. Groups in drive mode employ the corresponding excitation state at their predetermined drive positions.

[0072] When the power generation mode is selected, one, more, or all groups are put into power generation mode. Groups in power generation mode use relative motion to cause a change in the coupling magnetic flux of the complete conductive path of the group, and output electrical energy to the power receiving device through the corresponding power conversion branch.

[0073] 7. Group Excitation Continuation Method

[0074] The present invention also provides a group excitation connection method for the above-mentioned same-pole opposite oblique magnetoelectric actuator.

[0075] The controlled electromagnetic group consists of an oblique magnetic field actuation module with an electromagnetic excitation conductor and electrical terminals, or an electromagnetic actuation structure that cooperates with a permanent magnet oblique magnetic field actuation module through a magnetic working gap. Each electromagnetic group has a first electrical terminal and a second electrical terminal, which respectively form the two external terminals of the complete conductive path of the electromagnetic group; each electromagnetic group has an independent excitation interface and is connected to an independently controlled power conversion branch.

[0076] The method obtains the relative position, relative velocity, target direction of motion, force or torque command, and actual terminal current of each electromagnetic group and its corresponding magnetic action area. Based on the total installed force or torque relationship, allowable current, and the predetermined drive action position and its corresponding excitation state, an allowable excitation range is determined. Within this range, electromagnetic groups participating in excitation are selected, and the current amplitude of each electromagnetic group is adjusted.

[0077] The direction of the current flowing into the first electrical terminal of each electromagnetic group and out of the second electrical terminal is taken as the reference positive direction. This reference positive direction is fixedly determined by the terminal wiring of this electromagnetic group.

[0078] Define the first according to the aforementioned positive reference direction. The actual terminal current of each electromagnetic group Control during excitation and de-deceleration periods .

[0079] In the formula, This is the upper limit of the allowable current for this electromagnetic group. Based on the establishment and decay process of the actual terminal current of each electromagnetic group, the entry time, exit time, and handover sequence corresponding to the allowable excitation interval are arranged.

[0080] In the implementation using current feedback, the power conversion branch corresponding to each electromagnetic group detects the actual terminal current of that group and detects the terminal voltage between the first and second electrical terminals of that group. The current detection path reflects the terminal current of the corresponding group under the power supply, freewheeling, and controlled demagnetization states in which the method is actually executed, and uses the detection results for current feedback regulation of that group.

[0081] In implementations that incorporate additional load constraints, the allowable excitation range is determined simultaneously with the additional load constraints. When selecting a current combination, the tangential force or torque, as well as the normal, radial, or attitude-related additional loads, are simultaneously checked on the same stressed object. If the additional load constraints are not met, the current combination is restricted or a controlled shutdown is initiated.

[0082] 8. Grouped power generation control method

[0083] The present invention also provides a grouped power generation control method applied to the above-mentioned same-pole opposite oblique magnetoelectric actuator. The electromagnetic groups are constructed using the aforementioned grouping method, and the first and second electrical terminals of each electromagnetic group respectively constitute the two external terminals of its complete conductive path; each electromagnetic group has an independent excitation interface and is connected to an independently controlled power conversion branch.

[0084] The method obtains the relative position, relative speed, and operating mode command between each electromagnetic group and its corresponding magnetic action area, as well as the actual terminal current and terminal voltage of each electromagnetic group. Based on the installed induced electromotive force relationship, the installed total force or total torque relationship, the allowable current, and the external power receiving capacity, the allowable power generation range is determined, and the electromagnetic group that enters the power generation state is selected.

[0085] The selected electromagnetic group forms a closed output path with the external power receiving device through the corresponding power conversion branch. The relative movement of the electromagnetic group and the cooperating magnetic action area causes a change in the coupling magnetic flux of the complete conductive path of the group, thereby generating an induced electromotive force, and outputting electrical energy through the closed output path.

[0086] The direction in which current flows into the first electrical terminal and out through the second electrical terminal of each electromagnetic group is taken as the reference positive direction. This reference positive direction is fixedly determined by the terminal wiring of this electromagnetic group. The actual terminal current is defined according to this direction. The terminal voltage is defined by the potential difference between the first electrical terminal and the second electrical terminal. .

[0087] During power generation, the actual terminal current is controlled to meet the requirements. .

[0088] Before the selected electromagnetic group enters the power generation state, the start and end rules of the average time period are determined, and within the average time period determined according to the rules, the port power is increased. The time average is negative. When the power receiving end reaches the allowable voltage or the upper limit of the receiving current, the current target of the corresponding electromagnetic group is reduced, and exit control is executed.

[0089] In the controlled shutdown implementation, when power generation is shut down, the current target is reduced, and the corresponding power conversion branch is controlled to provide a negative terminal voltage that attenuates the positive terminal current. During the attenuation of the positive terminal current, continuous current or controlled demagnetization path is maintained. After the positive terminal current attenuates to zero, the controllable bidirectional blocking switch connected in series to the group of terminal branches is turned off to prevent the establishment of reverse terminal current.

[0090] (III) Beneficial Effects

[0091] The present invention, through the above-described components, system, and control method, has the following beneficial effects in the corresponding embodiments.

[0092] 1. Implement normal support or unloading and tangential drive on the same two-sided components.

[0093] The oblique magnetic field actuator module and the corresponding magnetic action unit, through magnetic source configuration and relative installation, ensure that the same first magnetic action unit is simultaneously subjected to a normal component in the direction of increasing gap and a tangential component in a predetermined direction at a predetermined driving position and under its corresponding excitation state. The normal component bears part of the load in the specified direction or reduces the support burden, while the tangential component forms the driving action, ensuring that the driving and support loads correspond to the same component and installation state. Operational stability is still determined by the changes in force and torque in each direction, the support structure, and control.

[0094] 2. Ensure a clear correspondence between the module's structural orientation, complete area, and installation function.

[0095] The magnetic source assembly is fixed together with the module body, and the mounting reference part determines the relative orientation and local direction reference of the magnetic source. The complete functional area and the working observation area are determined by the structural edges, geometric dimensions, and predetermined observation positions, and are fixed relative to the module. During disassembly, assembly, positioning, and relative movement, the area and direction can be reproduced according to the same rules, reducing evaluation differences caused by coordinate changes, area variations, or post-measurement trimming. The self-field of the complete module is determined under conditions without a contralateral side. After installation, the magnetic effects on both sides are determined separately, so that the module properties and the forces applied during installation correspond to clearly defined objects.

[0096] 3. Provide a specific implementation form for the oblique magnetic source corresponding to modular assembly.

[0097] When using a single continuous permanent magnet, the tilted magnetization configuration is implemented within a single continuous magnet, reducing dependence on the magnetization phase and relative assembly relationships between multiple magnetic units. When using two permanent magnet magnetic action zones, the two zones together form the required field components within the same module and observation area; the continuous body form has no mechanical splicing interface, and the two parts maintain their relative positions through joint fixing. The selected recirculation components or non-magnetic support structures correspond to the module boundaries and installation relationships.

[0098] 4. Ensure that the working strip, end connections, and return sections form a complete modular electrical boundary.

[0099] The shunt connection, parallel effective current-carrying strips, diversion bus, and common return downstream of the bus are all fixed to the module, forming a continuous path between two external terminals. This allows the operating current return to be independent of the housing, the back yoke of the entire unit, or adjacent modules. The clear electrical boundaries facilitate independent installation, external wiring, and insulation, connection, heat dissipation, and magnetic field analysis of the complete path; this effect comes from the path and the common fixing relationship, and is not replaced by the form of conductor cross-section.

[0100] 5. Ensure that the permanent magnet reference state and the controlled excitation state correspond on the same hybrid module.

[0101] The permanent magnet section and the electromagnetic excitation section are fixed together. In the unpowered and specified DC excitation states, they retain the same structure, complete functional area, and observation position, allowing the permanent magnet reference field and the controlled excitation increment to be compared on a consistent geometric surface without the need to remove the electromagnetic section or reselect the region. The permanent magnet reference function and the electromagnetic regulation function are undertaken by the same installable module, with local polarity determined by the module's own field in each corresponding state.

[0102] 6. Align the complete module area with the actual installation gap.

[0103] The complete functional area corresponds to the actual magnetic working gap through a fixed installation observation plane; at each predetermined driving position, the entire local observation area is located within the actual magnetic working gap, not just the center point. The self-field and the installation composite field are determined separately, so that the module evaluation, installation gap and operating status correspond, providing a clear structural object for tangential output, normal load and gap maintenance in axial disc, cylindrical or annular, linear and spherical configurations.

[0104] 7. The degree of electromagnetic interaction should be determined through independently controllable grouping.

[0105] Each electromagnetic group is connected to an independently controlled power conversion branch via its own group terminals. The control unit can arrange the driving, power generation, or standby states separately, and select one, several, or all groups to participate in the corresponding energy exchange. The group status, current, and output path correspond to specific electrical interfaces, and adjustment is not necessary to change or maintain the magnetization level of the permanent magnet.

[0106] 8. Ensure the drive connection corresponds to the actual current process, while also taking into account the common load.

[0107] The allowable excitation range is determined based on the relationship between the total installed force or total torque, and entry, exit, and handover are arranged according to the establishment and decay of the actual terminal current, so that the geometric position corresponds to the current dynamics. The reference direction of the fixed terminals and the current feedback covering power supply, freewheeling, and controlled demagnetization are used to ensure that the connection is implemented based on the actual branch current. When further considering common load constraints, the tangential force or torque and applicable additional loads are simultaneously checked for the same stressed object; if the constraints are not met, the current combination is limited or a controlled shutdown is implemented.

[0108] 9. Ensure that the power generation output determination and exit process have consistent port criteria.

[0109] Before entering the power generation state, determine the average power period and use the negative average power of that period according to the fixed port reference direction to determine the net output power, avoiding the judgment of power generation based solely on open-circuit voltage, instantaneous power, or rectified polarity. When exiting, first implement controlled current reduction, retain the attenuation path, and then block the reverse current after the current drops to zero, so that the energy receiving limit, current attenuation, and electrical isolation are connected. Attached Figure Description

[0110] Figure 1 A schematic diagram of a magnetoelectric actuator with opposite poles at an oblique angle and the direction of force applied. Figure 2 This is a schematic diagram of the oblique magnetic unit and magnetic field distribution; Figure 3 This is a schematic diagram of the structure and electrical connection of the two-end oblique magnetic field actuator module. In the diagram, A is the overall structure diagram, B is the exploded view, C is the assembly diagram, D is the enlarged view of the first end connection, E is the enlarged view of the second end connection, and F is the electrical equivalent connection diagram. Figure 4 This is a schematic diagram of the conductor layers of the two-end oblique magnetic field execution module, where A is an exploded view and B is a cross-sectional view; Figure 5 This is a schematic diagram of the current path and geometric relationship of the two-end oblique magnetic field execution module, where A is the current path diagram, B is the spatial relationship diagram of the conductor center, and C is the displacement decomposition diagram; Figure 6 This is a schematic diagram of the structure and current path of the forward electromagnetic actuator module; Figure 7 This is a schematic diagram of the cross-section and shape of a long, oblique permanent magnet unit. Figure 8 This is a schematic diagram of the ring module layout and group control, where A is the ring module layout diagram and B is the group drive and power generation control block diagram; Figure 9 The diagram shows the annular and axial magnetoelectric components, where A is the outer ring permanent magnet component, B is the inner ring permanent magnet component, C is the outer ring electromagnetic component, D is the inner ring electromagnetic component, E is the axial electromagnetic actuator disk, and F is the axial permanent magnet component disk. Figure 10 This is a schematic diagram of a radial magnetoelectric assembly, where A is a combination of inner electromagnetic and outer permanent magnet, B is a combination of inner permanent magnet and outer electromagnetic, and C is a combination of both sides of electromagnetic. Figure 11 This is a schematic diagram of the rotor structure, where A is the inner rotor and B is the outer rotor; Figure 12 This is a schematic diagram of a linear motion magnetoelectric actuator. Figure 13 A schematic diagram of a spherical magnetoelectric actuator and the direction of force applied to it; Figure 14 A schematic diagram of the dual-axis axial magnetoelectric assembly and control circuit assembly; Figure 15 This is a schematic diagram of the exploded shape of the cylindrical magnetoelectric dynamic system. Figure 16 A schematic diagram of the exploded view of an axial flux disk magnetoelectric dynamic system; Figure 17 This is a schematic diagram of a single continuous permanent magnet module, where A is an isometric view with a return magnet component, B is a sectional view with a return magnet component, C is a projection view of the working area, and D is a sectional view without a return magnet component. Figure 18 This is a schematic diagram of a continuous magnet partitioning magnetization module, where A is an isometric view with a return magnetization component, B is a sectional view with a return magnetization component, C is a projection view of the working area, and D is a sectional view without a return magnetization component. Figure 19 This is a schematic diagram of the magnetic field detection of a single arc-shaped permanent magnet for an inner rotor, where A is the detection geometry and B is the sampling grid diagram; Figure 20 This is a schematic diagram of a hybrid permanent magnet and electromagnetic structure in the same module, where A is an exploded view, B is a cross-sectional view, C is a current path diagram, and D is a projection view of the working area. Figure 21 This is a schematic diagram showing the combination of different windings and permanent magnet rotors with oblique magnetic action structures.

[0111] Explanation of reference numerals in the attached figures

[0112] 101. Oblique magnetic unit; 102. Common back yoke and slotted support structure; 103. Component magnetic working surface; 104. Oblique permanent magnet unit; 105. Magnetic working gap; 106. Two-end oblique magnetic field actuation module; 107. Insulation structure; 108. First external electrical connection terminal; 109. Second external electrical connection terminal; 110. First-end shunt connector; 111. Second-end return connector; 112. Effective current-carrying strip group; 113. Common return conductor group; 114. Second-end deflection busbar; 115. Forward electromagnetic actuation module; 116. First ring magnetoelectric assembly; 117. Inner ring oblique permanent magnet Body assembly; 118. Third annular magnetoelectric assembly; 119. Fourth annular magnetoelectric assembly; 120. Axial electromagnetic actuator disk; 121. Axial permanent magnet assembly disk; 122. Cylindrical oblique electromagnetic module array; 123. First cylindrical mounting support; 124. Second cylindrical magnetoelectric module array; 125. Annular magnetic assembly; 126. First linear mounting support; 127. Second linear mounting support; 128. Spherical oblique magnetic assembly; 129. Spherical oblique electromagnetic stator actuator assembly; 130. Spherical mounting support; 131. First axial magnetic assembly; 132. First axial electromagnetic assembly; 133. Control 134. Circuit assembly; 135. Central bearing and power supply assembly; 136. Second axial magnetic assembly; 137. First end annular magnetic assembly; 138. First end connecting assembly; 139. First annular fixing member; 140. Second annular fixing member; 141. Housing; 142. Second end annular magnetic assembly; 143. First disc-shaped support member; 144. Annular spacer support member; 145. Second disc-shaped support member; 146. Inner rotor; 147. Outer rotor; 148. Module body; 149. Independent module magnetic working surface; 150. Magnetic source assembly; 151. Independent soft magnetic return component; 152. Mounting reference part; 153. 2. Fastening interface; 153. Reference plane; 154. Preset effective working area; 155. Single continuous permanent magnet; 156. Magnetization direction; 157. Local working polarity area; 158. Inclined magnetization area; 159. Continuous magnet body; 160. Normal observation offset distance; 161. Electromagnetic excitation conductor group; 162. Magnetic field probe; 163. Probe sensitive point; 164. Outer stator conductive coil winding module; 165. Outer stator conductive flat wire winding module; 166. V-shaped embedded permanent magnet internal rotor; 167. Surface mount permanent magnet internal rotor; 168. Externally focused Halbach permanent magnet array. Detailed Implementation

[0113] Joint Implementation Instructions and Symbol Conventions

[0114] The following combination Figures 1 to 21Eight embodiments of the present invention are described. Embodiment 1 describes the two-sided components and the oblique magnetic source; Embodiments 2 to 4 describe the electromagnetic path, magnetic source form and group control; Embodiments 5 and 6 describe the assembly configuration; Embodiment 7 describes the permanent magnet and hybrid module and detection configuration; Embodiment 8 describes the matching structure of different windings and permanent magnet rotors.

[0115] All embodiments adopt the following common installation references, observation areas, and field evaluation rules; current paths and group control are applicable to implementation methods containing corresponding electromagnetic actuators. The magnetization direction, spatial magnetic field direction, and installed force direction are determined separately.

[0116] The attached image and the following text, This represents the local unit normal oriented toward the magnetic working gap, determined by the module mounting reference. It represents the tangential direction of the reference unit determined by the directed baseline, and the two are perpendicular to each other; This represents the magnetization vector of the permanent magnet. Represents the magnetic flux density vector; This represents the complete projection of the structurally defined functional area onto a specified observation plane. and Indicates the same area. Indicates the area of ​​the region; This represents the normal observation offset distance for its own field evaluation; , These represent the area-average components of the signed normal and tangential magnetic flux density over the entire observation area, respectively. This represents the resultant force acting on a specified object. , This represents the signed projection of the force onto the specified local normal and reference tangent. , It serves as an equivalent position marker for the upper and lower objects, and does not represent the pressure value at a single point; , These represent relative angular position and relative angular velocity, respectively. , , They represent the first The terminal current, terminal voltage, and port power of the group are determined according to the passive notation convention. Specific geometric quantities, grouping quantities, and detection quantities for each figure are described in the corresponding embodiments.

[0117] The module body 147 carries the magnetic source assembly 149, the mounting base 151 is used for positioning and orientation, and the fastening interface 152 is used for fixation. The single continuous permanent magnet 155, the continuous magnet body 159, and the electromagnetic excitation conductor group 161 are the specific forms of the magnetic source assembly 149. The independent soft magnetic reflux component 150 is an optional self-contained magnetic component, and the magnetization direction 156 is a direction indicator.

[0118] Component magnetic working surface 103 indicates Figures 2 to 16 The working surface of the magnetic working structure, with 148 independent modular magnetic working surfaces. Figures 17 to 20 The corresponding independent module's working surface; the magnetic working gap 105 is the gap between the two working surfaces. The symbols for current outflow and inflow at the observation section are respectively... , The positive and negative polarities of the terminals are indicated separately.

[0119] (a) Installation reference and complete observation area

[0120] The mounting reference unit 151 includes a positioning reference surface, reference points, and directed reference lines. The position of the reference point projected along the local normal of the working surface determines the local coordinate origin. The unit normal of the oriented gap is The non-zero projection of the directed baseline onto the tangent plane at the origin is determined after normalization. During assembly, the positioning reference surface is aligned with the reference surface of the carrier component, and the directed reference line is aligned with the predetermined installation reference direction. The position is maintained via the fastening interface 152. The magnetic source is fixed relative to the aforementioned reference before installation.

[0121] Normal observation offset distance 160 and above This indicates that a predetermined positive value is taken. For a planar magnetic working surface, the reference plane 153 extends from the plane containing the working surface along... Translation Obtain; for the working surface of the curved surface, with the origin... The reference plane 153 is obtained by translating along the same fixed normal direction using the tangent plane as a reference. The actual magnetic working gaps on both sides and the distances between the internal conductors and insulation layers of the module are determined respectively.

[0122] In the permanent magnet form, the working surface area corresponding to the complete top surface of the design is used as the functional area. When multiple permanent magnet components are used to form a module, the union of the complete working side top surface areas of each component is used. Gaps between components that do not belong to any top surface are not included, and the area of ​​the projected overlapping part is only counted once. In the pure electromagnetic form, the functional area is determined by the actual complete outer contour of the component's magnetic working surface 103. The boundary is determined by the intersection line of the working surface with the side surface, end surface, or retreating step; the insulating filling surface between strips and the corresponding area of ​​the interval within this boundary are also included. The multi-conductor structure and the three parallel arc structure are shown in Section (I) and Section (V) of Embodiment 2, respectively. The functional area determines the surface range participating in projection and integration. The module's own field retains the field contribution of all current-carrying conductors, end connections, and self-contained magnetic components.

[0123] Complete functional area along fixed Parallel projection onto reference plane 153 yields... The region is fixed relative to the module and moves with the module, without being reselected or trimmed based on the field evaluation results or relative position.

[0124] The curved surface module uses a local working surface patch corresponding to the parallel projection. The integrated area is the projected area on the observation plane, and is not replaced by the surface area, the unfolded area of ​​the cylinder, or the end face area of ​​the sector ring. The planar modules installed in the curved surface array apply the above rules according to the local coordinates of the module.

[0125] (II) Field Evaluation Conditions

[0126] When evaluating the module's own field, the module's complete magnetic source, conductive path, and built-in magnetic components are retained, but opposing magnetic action units and external magnetic components used to enhance or deflect the magnetic field are not included. The evaluation of the synthesized field by the installed equipment retains the actual magnetic sources and magnetic components on both sides, using the corresponding excitation states. The self-field and the synthesized field by the installed equipment are determined according to their respective specified observation positions and states.

[0127] The evaluation is conducted on pure permanent magnet conductors without external excitation current. For conductors with electromagnetic excitation, a stable DC current is applied according to pre-defined terminal polarities. The current amplitude is determined before the field evaluation, is set to a non-zero value, and remains unchanged during the evaluation. The design field calculation uses the specified current input; the physical field evaluation uses the same terminal polarities and current amplitude, and the evaluation status is recorded. This evaluation current is not considered the determined rated continuous operating current; the actual allowable operating current is determined separately based on the conductor's allowable temperature rise, insulation class, and energizing conditions.

[0128] The oblique magnetic field execution module used in this invention, under the aforementioned specified conditions, the entire... The average components of the two signed self-field areas are both non-zero; the definition and determination method of the average quantity are given in Section (V) of Example 7.

[0129] The total installed force and total torque are determined based on the actual magnetic sources, conductive paths, magnetic components, and installation relationships on both sides, and can be obtained using the magnetic stress integral of the air-closed surface surrounding the stressed object or corresponding structural analysis. The two signed area average components of the self-field are used to characterize the field properties of the complete module, and the installed effect is determined separately based on the resultant force of the same stressed object under the same state.

[0130] Example 1: Two-sided same-pole opposing components and oblique magnetic source

[0131] like Figure 1As shown, the inclined permanent magnet unit 104 and the two-end inclined magnetic field actuation module 106 are arranged opposite each other across a magnetic working gap 105, and are respectively held in position by corresponding supporting structures. The module with the electromagnetic excitation part on the lower side serves as the first magnetic action unit, and the upper permanent magnet structure serves as the second magnetic action unit. The first magnetic action unit can also be a permanent magnet or hybrid module as described later, and the second magnetic action unit can be a matching permanent magnet structure, an electromagnetic actuation structure, or a combination of permanent magnet and electromagnetic structures. When the vertical or horizontal / internal installation positions are reversed, the side including the inclined module and the installation reference is used to determine the first magnetic action unit.

[0132] At each predetermined driving position and its corresponding excitation state, the corresponding local regions actually facing each other on both sides are either both N poles or both S poles, forming a local same-pole relative relationship. The local polarity of each side is determined by retaining its own magnetic components and using its own field under the corresponding excitation state: the magnetic field emanating into the gap in the direction of the gap's outward normal is the N pole, and the magnetic field incident on that side is the S pole; the hybrid structure uses the self-field formed by the permanent magnet part and the electromagnetic part on that side. Multi-region structures are determined pair by pair, without replacing it with the average normal component of the whole region or the synthesized field of the installed equipment.

[0133] Under the same installed state described above, the normal component acting on the first magnetic action unit along... The opposite direction increases the magnetic working gap; the tangential component in The projection on the target is non-zero, and the projection sign is consistent with the predetermined driving direction corresponding to the predetermined driving position, that is:

[0134]

[0135] The predetermined drive direction can be The direction of the drive action is either forward or reverse. The predetermined drive position is determined by the installation relationship, the magnetic interaction relationship of the installed equipment, and the allowable current. The magnetic interaction relationship of the installed equipment includes the relationship between the total force or total torque and the relative position and excitation state. The allowable excitation range for group control is determined based on the above relationship and the allowable current; the allowable excitation range is determined separately from the complete observation area of ​​the module.

[0136] Figure 1 middle, and These are the equivalent positions of the upper and lower magnetic objects, respectively. This represents the resultant magnetic force exerted by the lower side on the upper side. This represents the resultant magnetic force exerted by the upper side on the lower side; , and , The normal and tangential components of the resultant force are marked respectively, and the arrows indicate the directions of the components. The common direction reference in the diagram corresponds to the first magnetically acting element on the lower side. Indicates the reference direction of the excitation magnetic field.

[0137] Figure 1 The cooperative relationship between the two-end oblique magnetic field actuation module 106 and the oblique permanent magnet unit 104 is explained. A radial representative pairing is shown in Embodiment 5, where the outer two-end oblique magnetic field actuation module 106 serves as the first magnetic action unit, and the inner ring oblique permanent magnet assembly 117, composed of the inner oblique permanent magnet unit 104, serves as the second magnetic action unit. The complete working surface and conductive path of the two-end oblique magnetic field actuation module 106 adopt the structure of Section (V) of Embodiment 2; the installation orientation, excitation, local polarity, and the two component forces of the same two-end oblique magnetic field actuation module 106 are uniformly described in this representative pairing.

[0138] like Figure 2 As shown, the oblique magnetic unit 101 is positioned by a common back yoke and slotted support structure 102, the component magnetic working surface 103 faces the working gap, and the field lines show the magnetic field distribution around the single-sided magnetic source.

[0139] Example 2: Two-terminal electromagnetic module and complete current path

[0140] (a) Modular structure and electrical connection

[0141] like Figure 3 As shown, the electromagnetic excitation conductor group 161 consists of an effective current-carrying strip group 112, a common return conductor group 113, and an end connection structure. The first external electrical connection terminal 108 connects to the shunt node via the first end shunt connector 110. The first end of each effective current-carrying strip is connected; the second end of each strip is redirected to the busbar 114 at the busbar node. They converge and then connect to the second external electrical connection terminal 109 via the common return conductor group 113 and the second end return connector 111. Figure 3 In the diagram, F indicates the end-to-end electrical connection; 112a, 112b to 112n are the sequential designations of the parallel active current-carrying strips; the last letter indicates the last branch in the schematic connection; "∥" indicates parallel connection. Common return conductor group 113 is connected at the bus node. Downstream, the operating current returns through the module's own conductor, without passing through the module body, casing, back yoke of the whole machine, or adjacent modules to form a working return path.

[0142] The first-end shunt connector 110 and the second-end return connector 111 are separated by an insulating structure 107; except for the designed shunt and combiner nodes, conductors at different potentials are kept insulated from each other. The conductor group maintains a predetermined spatial relationship through insulating supports and mechanical positioning, and the main direction of electromagnetic excitation is determined by the complete current flow and the magnetic circuit used, not only by the strip shape inclination angle.

[0143] Figure 3 D in Figure 3 E and Figure 4 In section A, the effective current-carrying strip group 112 consists of eight effective current-carrying strips 112a to 112h, and the common return conductor group 113 consists of six return conductors 113a to 113f. The module terminal current is equal to the sum of the currents of each parallel effective current-carrying strip, and the common return conductor group 113 jointly carries the total current after the current is collected.

[0144] Figure 3 In the multiple conductor implementation shown in Figure A, the complete outer contour of the magnetic working surface 103 of the assembly in the assembled state is used as the functional area boundary. Along the length direction of the strip, the two end boundaries are the intersection lines of the magnetic working surface with the first end face and the second end face, respectively; the two lateral boundaries are the intersection lines of the magnetic working surface with the two adjacent side faces. The first end is the end where the first end shunt connector 110 and the second end return connector 111 are located, and the second end is the end where the second end turning busbar 114 is located. The working side surface area enclosed by the above boundaries is included in the projection as a whole, and the corresponding areas of the conductor surface, insulation interval and strip gap are all included, without taking areas separately along the contour of a single strip.

[0145] The surface area of ​​the common return conductor group 113 corresponding to the boundary of the aforementioned magnetic working surface is also included; portions located on other sides or end faces are not added as functional areas. The portions of terminals and end connectors extending beyond the aforementioned boundary do not extend this area. The self-field evaluation still includes the common field contribution of the effective current-carrying strip group 112, the common return conductor group 113, the first end shunt connector 110, the second end return connector 111, the second end turning busbar 114, and the remaining current-carrying portions of the module. The complete functional area is projected according to the common implementation description. .

[0146] (ii) Conductor layer and signed displacement

[0147] Measurements were taken along the same local normal direction of the magnetic working surface 103 of the component. The distance from the center of the effective current-carrying strip to the working surface is The distance from the equivalent center of the common return path to the working surface is... . Figure 4 B in the middle adopts In the layer, the public return conductor is closer to the working surface.

[0148] Figure 5 A in Indicates the direction of strip length, in , These represent the reference currents for the working branch and the return branch, respectively. After the working current reaches the second terminal along the strip and converges, it returns in the opposite direction along the common return path.

[0149] Figure 5 B in the diagram represents a spatial stratum. Figure 5In this context, C represents the displacement decomposition within the corresponding local section. and Determine the geometric reference section Normal distance difference according to Figure 5 The local normal axis measurement is shown in C. This indicates the magnitude of the distance difference. This cross section is used to represent the conductor center and relative displacement, and is defined separately from the reference plane 153 outside the working surface used for magnetic field detection.

[0150] by , These represent the centers of the effective current-carrying strips, respectively. and corresponding public return equivalent center The position vector. Displacement from point to Defined as:

[0151]

[0152]

[0153] Figure 5 In this context, C represents the negative tangential and negative normal displacement components mentioned above. The midpoint of the displacement decomposition is given by... to For the tangential displacement component, by to For the normal displacement component; the first group , and The same rules apply. , . To represent the magnitude of the normal distance difference, the signed scalar component of the normal displacement is... ; This represents a signed tangential displacement. The above relationship corresponds to... Figure 4 B and Figure 5 The layer shown; in this embodiment, section (v) uses another layer where the working strip is closer to the magnetic working surface.

[0154] (III) Example of a design with four copper strips

[0155] Another design example uses four parallel copper strips, with the cross-section of each copper strip's working section being... , length is These four configurations are used in conjunction with the aforementioned eight working strips and six return conductor configurations.

[0156] (iv) Comparison of conductor layers in an applied permanent magnetic field

[0157] To illustrate the relationship between the conductor layer and the force exerted by the applied magnetic field, a two-dimensional rectangular permanent magnet external field model without independent soft magnetic return components was used to perform Lorentz force analysis on the three working strips and the equivalent return conductor. The width of the applied permanent magnet is... ,thick Residual magnetism The magnetization tilt angle is designed to be... nominal gap take The cross-sections of all three working strips are... The total current is taken as The current is equally distributed among each working branch, and the equivalent return conductor carries the total reverse current.

[0158] This model takes the working surface as... , To the right along this plane, Oriented towards an external permanent magnet. To be compatible with... , The right-handed coordinate system The direction is longitudinal, and the working strip current is along... Direction, equivalent return conductor current along Direction. Magnet occupies , The region is magnetized in the positive direction. and negative , and negative The included angle of direction is The center of the three work strips The coordinates are respectively , and ; Return to the center of the conductor Coordinates are Return cross-section width ,high The center of each conductor The coordinates are negative values ​​corresponding to the burial depth.

[0159] Each conductor cross-section adopts a center-to-width ratio in both the width and height directions. Within range The average external field is calculated using equal-weighted sampling points. The model employs a two-dimensional approximation along the longitudinal direction, excluding module end connectors, conductor intrinsic field, soft magnetic response, or temperature rise. The model's coordinates are... Figure 5 The local coordinates are used separately, and the design examples of three configurations and four copper strips, as well as the eight illustrated configurations, are explained separately.

[0160] Under the above model conditions, the working strip is at a distance from the working surface. , distance of return conductor from working surface At that time, the tangential force per unit length is The working strip burial depth was changed to The return conductor burial depth was changed to At that time, the tangential force per unit length is , decreased by approximately This result demonstrates that the influence of stratigraphic variation in this field model is not determined by... Estimate the gain separately.

[0161] The above Under magnetization configuration, burial depth The average external field obtained from sampling the cross-sections of three current-carrying strips is calculated according to... towards and Taking the arctangent of the ratio of the absolute values ​​of the average components, we obtain... This angle is... The line containing the axis is a reference and does not represent the sign of the field components, nor is it the magnetization angle of the permanent magnet. This sampling object is not a complete sample on the reference plane 153. This is not used to prove the self-field double mean condition of the complete module.

[0162] (v) Implementation method of three parallel and common return bias arc electromagnetic lines

[0163] This embodiment is used for representative pairing in Example 5, and the two-end oblique magnetic field execution module 106 adopts... Figure 3 The end-to-end electrical connection is shown as F in the diagram. The effective current-carrying strip group 112 consists of three parallel effective current-carrying strips, and the common return conductor group 113 uses an integral conductor. The module support and working side insulation cladding use non-magnetic materials and do not have soft magnetic cores or independent soft magnetic return components. The origin of the coordinate system is taken as the axial midpoint of the assembly shaft. Along the axis of rotation, the outer radial direction representing the center of the module is... , counterclockwise tangential direction The number of conductors, spatial layer positions, and magnetic working surface boundaries are determined by the dimensional relationships described in this section; Figure 4 B and Figure 5 This corresponds to another conductor configuration in Sections (I) and (II) of this embodiment.

[0164] The component magnetic working surface 103 is formed by the complete inward surface of the working side insulating cladding, which is located at a radius of On the cylindrical surface. The two axial side edges are located respectively at... and The two end edges are located at and The side and end edges are provided with steps that recede towards the back of the module and connect to the mounting support. The complete outer contour of the magnetic working surface 103 of the component is formed by the four solid intersection lines mentioned above. The insulation structure 107 between the three working strips is continuously filled within this coating. The complete arc surface as a whole serves as a functional area, and its tangential projection width is [missing information]. axial length is .

[0165] The three effective current-carrying strips in the effective current-carrying strip group 112 are arranged axially, and the dimensions of each strip cross-section along the tangential and radial directions are as follows: and The tangential coordinates of the strip center are as follows: , and The interval between adjacent stripes is The center of the three stripes All coordinates are The effective axial segment is located at .

[0166] The cross-section of the integral conductor used in the common return conductor group 113 is as follows along the tangential and radial directions: and The center is located , That is, relative to the center of the work strip group towards bias Using the tangent plane at the center of the component's magnetic working surface 103 as the distance reference, the distances from the center of the working strip and the return center to the back side are respectively... and In this structure, the working strip is closer to the working surface. The back side of the return conductor and the sides and end faces beyond the four boundaries of the component's magnetic working surface 103 do not extend into additional functional areas, and all magnetic field contributions of the return conductor and its connectors are retained.

[0167] The working section and the return section form a complete path at both ends through diversion, turning and merging, and return connection areas, with provisions at each end. Axial space. End connections are distributed along the radial section: with This indicates the number of millimeters relative to the radial center of each conductor cross-section. The connection between the front and back positions The coordinates are respectively and The working section and return section extend axially to the corresponding connection positions. The common return section is divided into three adjacent and continuous sections in the calculation. The distribution areas, whose tangential centers are respectively , and Each of the three working strips corresponds sequentially to one of the three working strips; each region belongs to the same common return conductor.

[0168] The first-end shunt connector 110 and the second-end return connector 111 are separated by an insulating structure 107, and respectively lead out to the first external electrical connection terminal 108 and the second external electrical connection terminal 109. Forward current flows from the first external electrical connection terminal 108 through the first-end shunt connector 110 into the three parallel strips of the effective current-carrying strip group 112. The operating section current flows along... After the current converges at the other end via the second-end busbar 114, it flows along the common return conductor group 113. The current flows back through the second return connector 111 to the second external electrical connection terminal 109. The three parallel branches equally divide the terminal current, with the common return conductor group 113 carrying the total current. The end connections and return bias are supported and positioned by the module itself, remaining fixed during relative motion and magnetic field evaluation.

[0169] Example 3: Comparison of forward electromagnetic actuation structure and long strip permanent magnet form

[0170] like Figure 6 As shown, the forward electromagnetic actuator module 115 adopts a two-terminal path. The first external electrical connection terminal 108 is connected to the effective current-carrying strip group 112. The working current enters the common return conductor group 113 through the second terminal switching bus 114, and is then led out through the second external electrical connection terminal 109. The component's magnetic working surface 103 faces the working side, and the main excitation direction is organized according to the normal of the magnetic working surface, serving as a contrast structure for the magnetic field organization.

[0171] like Figure 7 As shown, the oblique permanent magnet unit 104 has a long strip shape, and the component magnetic working surface 103 extends along the length direction; when the oblique permanent magnet unit 104 is installed into the common back yoke and slot support structure 102, the installation orientation is maintained by the structure.

[0172] Example 4: Ring Independent Grouping, Excitation Continuation and Power Generation Control

[0173] (a) Grouping Interface and Geometric Position

[0174] Figure 8 The inner ring oblique permanent magnet assembly 117, shown in Figure A, consists of oblique permanent magnet units 104 mounted circumferentially on the rotating side; the two-end oblique magnetic field actuation module 106 surrounding the outer side is mounted on the fixed side. Each two-end oblique magnetic field actuation module 106 is connected to the corresponding power conversion branch through a first external electrical connection terminal 108 and a second external electrical connection terminal 109. The terminals with subscripts in the figure represent the first and second external electrical connection terminals of the corresponding groups, respectively. The inner ring oblique permanent magnet assembly 117 does not obtain excitation power through these terminals. Figure 8 B in the diagram indicates the corresponding group control relationship.

[0175] The diagram uses nine independent groups, to Indicates the first Group, Each group corresponds to a two-end oblique magnetic field actuator module, labeled sequentially from 106-1 to 106-9. Multiple modules can also be grouped into an electromagnetic group according to their interface relationships. Each group is controlled through independent terminals and corresponding power branches, with the common DC bus capacitor denoted as... .

[0176] The zero point and positive direction of the circumferential angular coordinates are determined by the installation datum. The boundary angle of the group entity is and The width of the solid angle is The position of the geometric central angle is The interval between adjacent central angles is They are respectively:

[0177]

[0178] The cycle interval is continuously expanded. When the widths of the solid angles in each group are equal, they can be uniformly denoted as... When adjacent center intervals are equal, they can be uniformly denoted as The width of the solid angle and the center spacing are determined by the structure, not by inferring from the peak field position, nor directly used as the allowable excitation range.

[0179] Permissible excitation range Determined based on the relationship between total installed capacity or total torque and allowable current; allowable power generation range The determination is based on the installed induced electromotive force, mechanical action relationship, allowable current, and receiving capability. In Example 5, the representative pair is determined according to the complete working surface and complete projection of this implementation method, combined with the relationship between the normal and tangential components of the local polarity and the same two-end oblique magnetic field actuation module 106 as a function of position, to determine a predetermined driving action position; the result of a single representative position does not replace the determination of the allowable excitation range.

[0180] (ii) Power conversion, current detection and exit path

[0181] Each electromagnetic group is connected to an independent power conversion branch, and multiple branches are connected to a common DC bus. When operating in generator mode, the bus is connected to an energy storage device, load, or bidirectional power supply device capable of receiving electrical energy; when operating in base-driven mode, corresponding power supply and current regulation branches are configured. The terminals of each group are not directly connected and are shared ports that cannot be controlled separately.

[0182] One branch uses a bridge power stage, with a controllable bidirectional blocking switch connected in series on one terminal connection line of the module. The two terminals of the module are respectively connected to the midpoints of the two arms of the bridge power stage; the bidirectional blocking switch can be composed of two series-connected MOSFETs with opposite body diodes. Voltage detection is implemented between the module terminals, and current detection is implemented in the output branch.

[0183] When the blocking switch is on, the bridge arm switch state provides a positive terminal voltage, a near-zero terminal voltage, or a negative terminal voltage, which are used for current building and regulation, freewheeling, controlled current discharge, or power supply to the bus, respectively. A fixed reference direction constrains the sign of the actual terminal current, but does not restrict the terminal voltage to always be positive. The bridge arm dead zone and overvoltage clamp are configured according to the bus voltage, module inductance, current, and transient conditions.

[0184] With the current flowing into the first electrical terminal and out of the second electrical terminal as the positive reference direction, the terminal voltage is the potential of the first electrical terminal minus the potential of the second electrical terminal. For the first... Group, using In the formula This represents the upper limit of the allowable current. Within the operating range where a single-branch lumped model can be used and the incremental inductance is positive, we have:

[0185]

[0186] In the formula, For branch resistance, For incremental inductance, This includes the equivalent voltage generated by motion and other group couplings. When the forward current decays, the actual terminal voltage satisfies... In addition, allowance should be made for control errors. Simply making the terminal voltage negative does not necessarily guarantee a decrease in current; when coupling or magnetic saturation is significant, the corresponding complete branch relationship should be adopted.

[0187] Upon demagnetization, the target current is reduced by using a negative terminal voltage that meets the aforementioned attenuation conditions, maintaining continuous current or the controlled demagnetization path. After the current returns to zero, the bidirectional blocking switch is turned off to prevent the establishment of reverse terminal current. Controlled demagnetization means removing electromagnetic excitation and handling inductive energy.

[0188] Current sensing covers the actual group terminal currents in the power supply, freewheeling, controlled demagnetization, and power generation paths, and does not replace group-by-group sensing with the total bus current. Power generation control also obtains the bus and receiver status. Bus capacitors temporarily store energy within the allowable voltage range; continuous receiving capability is provided by the actual receiving device.

[0189] (III) Excitation Continuation and Common Load

[0190] The control unit obtains relative position, speed, target motion direction, force or torque commands, and actual terminal current of each electromagnetic group. Within the allowable excitation range, it selects and adjusts the current target and arranges entry, exit, and handover based on actual current build-up, attenuation, and control delay.

[0191] The installation relationship can be obtained from actual structural analysis or from device calibration, and includes the combined effects of the magnetic source, soft magnetic components, effective strips, return paths, end connections, and actual gaps. When magnetic coupling is significant, the relationship between the combination of grouped currents and the total effect is used, and electrical independence is not equated with force or torque independence.

[0192] The handover is carried out using an overlapping or phased approach. The control unit determines the available current-building and current-retreating time by combining the remaining position and velocity, so that the actual current completes the exit process described in Section (II) of this embodiment before exiting the boundary. After the electromagnetic current returns to zero, the permanent magnet part continues to operate according to its own magnetization state.

[0193] The current closed-loop system adjusts the output voltage or duty cycle based on the deviation between the target and measured current, and limits the allowable upper limit. When further common load constraints are added, applicable items from tangential, normal, radial, and attitude loads are considered simultaneously: eccentric loads are considered for radial configurations, axial resultant forces are considered for axial configurations, and attitude and moment distribution are considered for spherical configurations. When there are no group combinations that satisfy the command and load constraints, command, standby, or controlled shutdown is restricted.

[0194] (iv) Power generation determination and withdrawal

[0195] The power generation control is used for electromagnetic groups with excitation conductors and independent electrical interfaces. The group can be composed of an oblique magnetic field actuator module with an electromagnetic excitation conductor, or an electromagnetic actuator structure that cooperates with a permanent magnet oblique magnetic field actuator module across a magnetic working gap. Relative motion changes the coupling magnetic flux of the complete path, and the group forms an output path via a power conversion branch and a power receiving device. According to the passive notation convention, we have:

[0196]

[0197] In the formula, For the first The equivalent flux linkage of a group includes the current in this group, the current in other groups, and the flux linkage contribution generated by the magnetic source on the opposite side. This indicates that the group absorbs electrical energy from the external circuit. This indicates that electrical energy is being output from groups. Maintain. At that time, the instantaneous output corresponds to .

[0198] Before the selected electromagnetic group enters the power generation state, the start and end rules of the average time period are predetermined. For example, the start and end times are determined according to the times when the selected direction of motion first reaches the entry angle and subsequently the first time it reaches the exit angle. , Alternatively, a fixed statistical duration can be predetermined from the entry time. Switching fluctuations, zero current, and possible positive power segments within this period are all included in the integration; only negative power segments are selected after the measured curve is obtained. The output is determined as follows:

[0199]

[0200] Within the permissible power generation range, the control unit will connect to branches capable of outputting electrical energy in groups, and adjust the actual current between the zero value in the reference positive direction and the upper limit of the permissible range. When the current is positive and the terminal voltage is negative, energy is sent to the bus and receiving end through the corresponding controlled path. The output energy comes from mechanical input or energy storage release; applying a negative terminal voltage itself does not generate energy. The mechanical action in the power generation state can be a braking action, and it is not required to maintain the original tangential force of the driving state.

[0201] When the receiving end approaches the upper limit of the allowable voltage or receiving current, or when the group is about to leave the allowable power generation zone, the control unit reduces the current target in advance and performs current reduction and blocking according to Section (II) of this embodiment. If the available voltage or receiving capability is insufficient to complete the exit, it will not enter the zone or will exit in advance; if the receiving capability is suddenly lost, the remaining energy will be handled by the energy absorption, clamping and fault isolation paths.

[0202] The power generation determination is based on the aforementioned predetermined time period; in the event of early termination, the actual completed process is recorded. The existing magnetic field energy recovered during termination and the mechanical energy input from relative motion are respectively included in the energy balance.

[0203] When circulating current is generated due to the difference in induced electromotive force in the internal parallel strips, corresponding branch detection and control are further set up, and the module terminal current and the current of each internal strip are determined separately.

[0204] Each group operates in drive, power generation, or standby mode according to instructions. During hybrid operation, within the same system boundary and statistical period, the sum of electrical input and mechanical input equals the sum of electrical output, mechanical output, losses, and energy storage increment.

[0205] (v) Rotary side connection and troubleshooting

[0206] When the electromagnetic module is located on the rotating side in another configuration, the terminals of each electromagnetic group are connected to the fixed-side power conversion branch via conductive slip rings that maintain a corresponding relationship; the conductive slip rings are only used for electrical connection, and the grouping timing is implemented by the control unit.

[0207] For example, the nine rotating electromagnetic groups employ eighteen operating current channels, the first... Channel connection number Group 1 electrical terminal, No. The channel connects to the second electrical terminal and has a separate dedicated protective grounding channel. This protective grounding channel does not carry normal excitation current, is not combined with the common return, and is not replaced by bearing contact. Channel nineteen is merely a wiring example for this rotating electromagnetic configuration; the channel's rated parameters are determined by the device used.

[0208] For configurations where the rotating channel may be abnormally disconnected, an overvoltage clamping energy-absorbing branch can be set near the module terminals to prevent conduction within the normal operating voltage range. A zero current detected on the fixed side does not independently prove that the inductive energy on the rotating side has been released. The control unit identifies abnormalities based on current tracking deviation, overcurrent, terminal voltage, and bus status, stops increasing the faulty group current, and restores power only after processing through the actually configured attenuation, energy absorption, and isolation paths.

[0209] Example 5: Annular and Axial Magnetoelectric Components and Rotor Configuration

[0210] Figure 9 A in the diagram shows the first annular magnetoelectric component 116 of the outer ring permanent magnet type. Figure 9 B in the figure shows the inner ring oblique permanent magnet assembly 117; Figure 9 C in the figure represents the third ring magnetoelectric component 118 of the outer ring electromagnetic type. Figure 9 D in the figure represents the fourth ring magnetoelectric component 119 of the inner ring electromagnetic type; Figure 9 E and Figure 9 F in the figure represents the axial electromagnetic actuator disk 120 and the axial permanent magnet assembly disk 121, respectively. Figure 9 Figure E also shows an annular spacer support 143 for supporting and maintaining the spacer. The figures represent component configurations; actual pairings, moving sides, and power supply connections are determined according to the corresponding assembly.

[0211] Figure 10 In section A, the cylindrical oblique electromagnetic module array 122 is composed of two oblique magnetic field execution modules 106 located on the inner side, which are opposite to the outer ring magnetic component 125 containing the oblique permanent magnet unit 104. The modules are connected to the excitation branch via the first external electrical connection terminal 108 and the second external electrical connection terminal 109. Figure 10 In section B, the first cylindrical mounting support 123 carries the inner inclined permanent magnet unit 104, and the outer second cylindrical magnetoelectric module array 124 is composed of two inclined magnetic field execution modules 106. Figure 10 In section C, both the cylindrical oblique electromagnetic module array 122 and the second cylindrical magnetoelectric module array 124 are composed of two-end oblique magnetic field execution modules 106, forming a double-sided electromagnetic cooperation. A magnetic working gap 105 is formed between each cooperation structure, and the local unit normal and reference unit tangent are determined according to the module installation reference, and an independent interface is set for the electromagnetic groups that need to be energized. Figure 11 A and Figure 11B in the figure represents the inner rotor 145 and the outer rotor 146, respectively.

[0212] The first magnetic action unit and the second magnetic action unit are respectively installed on two components capable of relative movement. The complete functional area of ​​each oblique module is along the fixed local normal of this module. Projected onto the installation observation plane, forming This plane is parallel to the working surface tangent plane at the local origin of the module. Its position relative to the installation datum is determined before evaluation and moves with the module; at any predetermined driving position, the entire... Located within the actual magnetic working gap.

[0213] At the predetermined driving position and under its corresponding excitation state, the synthesized field of the installed equipment is located throughout the entire... above relative to and Both signed area average components are non-zero. The observed offset can be compared with independently detected... They differ, each fixed relative to its mounting reference. The containment relationship of the entire area is determined by the solid boundary, curvature, module width, observation position, and allowable range of motion for curved surfaces or non-uniform gaps.

[0214] exist Figure 10 In the configuration shown by B, where the inner permanent magnet and outer electromagnetic module are coupled, a set of radial assembly dimensions are based on the diameter of the cylinder containing the magnetic working surface of the outer electromagnetic module. and the diameter of the cylinder containing the inner permanent magnet working surface The nominal radial clearance of the coaxial cable is:

[0215]

[0216] In the formula, This refers to the nominal radial clearance of the coaxial section; the complete installation observation area is still determined according to the above-mentioned physical boundaries and observation positions.

[0217] Representative pairing of the outer electromagnetic module and the inner permanent magnet structure

[0218] use Figure 10 As shown in Figure B, the inner permanent magnet and outer electromagnetic assembly relationship is as follows: the nine two-end oblique magnetic field execution modules 106 on the outer side are arranged circumferentially. Center-spaced installation, with the overall radial envelope of each module located at the radius. to Between them, the circumferential envelope of a single group is Its component magnetic working surface 103 adopts the complete solid boundary given in Section (V) of Embodiment 2. The six inner oblique permanent magnet units 104 are arranged according to... The center spacing is fixed to a non-magnetic support; the outer arc diameter of each piece is... The inner arc diameter is The included angle in the circumference is axial length is .

[0219] The permanent magnet material used is grade N52, and the remanence is calculated in this design. Each piece uses a uniform magnetization direction, which is deflected clockwise relative to the outer radial direction at the center of the piece. The magnetization direction of each piece rotates with its circumferential installation position. The six inner permanent magnets and the outer module are all calculated based on a configuration with non-magnetic support and no soft magnetic core.

[0220] Select located at The complete two-end oblique magnetic field execution module 106 serves as the first magnetic action unit, and the inner ring oblique permanent magnet assembly 117 serves as the second magnetic action unit. The six oblique permanent magnet units 104 in the inner ring oblique permanent magnet assembly 117 maintain a fixed relative position, forming a representative pair with the area actually faced by the selected two-end oblique magnetic field execution module 106. The local unit normal of the selected module at the center of the component's magnetic working surface 103 towards the magnetic working gap 105 is... The reference unit tangential is ; , They represent axis, The unit vector of the axis. With the radial alignment of the center of one inclined permanent magnet unit 104 with the radial alignment of the center of the selected module as the relative angle zero position, and the counterclockwise rotation of the inner rotor as positive, representing the relative angle... .

[0221] The representative state applies a magnetic field to the selected two-end oblique magnetic field execution module 106. Stable DC, each working strip is The common return current carries the reverse total current, while the other eight electromagnetic modules have zero current. This current is the excitation value calculated in this design, and the allowable operating current is determined according to the common implementation instructions. The self-field of the two-end oblique magnetic field actuator module 106 retains all working, return, and end paths of this module; the installation space and stress calculations include all six inner oblique permanent magnet units 104.

[0222] The complete arc surface of the component magnetic working surface 103 is fixed. Project to The reference plane, that is, the plane offset from the center tangent plane of the working surface towards the gap. ,get , The complete rectangular observation area has an area of The self-field and the composite field of the installed equipment in this representative state use the same complete region. The minimum radius within the region is... The outermost edge radius is approximately Located on the inside and the outside Within the defined nominal radial clearance range.

[0223] The field calculation employs the analytical field of a finite-length arc-shaped permanent magnet and the distributed current integration of a complete conductive path. Straight segments are calculated based on uniform cross-sectional current, and the ends are calculated using the aforementioned distributed path. Ports utilize an ideal power supply closure with adjacent leads. The entire observation area is calculated using Gaussian integration at 80 points in each of two directions, retaining all positive and negative field components and their corresponding area weights. Local polarity checks are performed by pairing positions along the same circumferential and axial directions, offsetting towards the gap on both curved surfaces. The field of each side is obtained and projected onto the outward normal of the surface facing the gap; the position of the solid gap between the corresponding inner magnetic sheets does not constitute a local pairing, and this geometric discrimination does not change the field integral of the complete observation area.

[0224] Table 1 shows the calculation results for pairing at 23°.

[0225]

[0226] Both force components in the table act on the selected complete two-end oblique magnetic field execution module 106, and the effective current-carrying strip group 112, the common return conductor group 113 and the two-end connection have been taken into account. Indicates the normal magnetic component along Oriented in the direction that increases the magnetic working gap 105; Indicates that the tangential magnetic component is along a predetermined path. Direction. The radial distance and tangential offset of the common return conductor group 113 change the spatial correspondence between each current-carrying part and the external field of the oblique permanent magnet unit 104. The forces on each segment combine to form a resultant force, which is transmitted from the module body to the load-bearing structure. In the geometric check corresponding to the above 6400 integration positions, 3760 positions form actual local pairings, and all sampled pairings are N—N; approximately 63.49% is the proportion of the paired projected area calculated according to Gaussian weights, not the proportion of the number of sampling points. This result shows that the structure in The correspondence between the field and the force at the representative location allows the excitation interval to be determined separately under the same structure and complete observation area, as described in Example 4. In Example 7, the independent detection configuration of the permanent magnet within a single block maintains its own observation area.

[0227] Example 6: Linear, Spherical, and Composite Assembly Configurations

[0228] (a) Linear motion configuration

[0229] like Figure 12As shown, the first linear mounting support 126 and the second linear mounting support 127 respectively support the opposing magnetic action units. The common back yoke and slotted support structure 102 maintain the installation position of the corresponding magnetic sources. A magnetic working gap 105 is formed between the oblique permanent magnet unit 104 and the two-end oblique magnetic field execution module 106, and along the diagram... Relative motion in direction. (See diagram) This represents the linear force along the reference motion axis in the view, not the constant thrust over the entire stroke.

[0230] The linear configuration replaces the relative angular position and angular velocity with the stroke position and linear velocity, respectively determining the allowable excitation section and the allowable power generation section on the stroke coordinate system. Employing the grouping interface, current feedback, and current build-up and attenuation arrangements of Embodiment 4, a tangential action corresponding to the direction of motion is generated within the selected section, taking into account applicable normal and guiding loads.

[0231] For opposing planar working surfaces, the installation observation plane is fixed at the middle position of the gap so that the complete projection is located between the two working surfaces; the relative movement range is determined by the coverage area of ​​the mating working surfaces and the installation relationship.

[0232] (ii) Spherical execution configuration

[0233] like Figure 13 As shown, a spherical oblique magnetic assembly 128, composed of oblique permanent magnet units 104, and a spherical oblique electromagnetic stator actuation assembly 129 are arranged opposite each other on both sides of the spherical magnetic working gap 105. The spherical oblique electromagnetic stator actuation assembly 129 includes two oblique magnetic field actuation modules 106 arranged spherically and a support structure, and is positioned by a spherical mounting support 130.

[0234] In the picture , , For spatial coordinate axes, To synthesize the attitude control torque, For the first The magnetic force of each local area of ​​action. Each module uses its own local working surface and parallel projection, and the installation observation area is determined according to Example 5.

[0235] Attitude control distributes excitation based on position or attitude feedback, the relationship between the installed components and the allowable current. The torque distribution under the selected attitude has an independent direction required to execute the target action and satisfies normal and attitude load constraints.

[0236] (III) Double-sided axial, cylindrical and disc-type assembly

[0237] like Figure 14As shown, the first axial magnetic component 131, the first axial electromagnetic component 132, and the second axial magnetic component 135 form a dual-sided axial configuration, with the control circuit component 133 and the central load-bearing and power supply component 134 located in the middle area. A common back yoke and slotted support structure 102 supports the corresponding magnetic units. The magnetic effects on both sides are determined based on the actual assembly and corresponding excitation.

[0238] like Figure 15 As shown, the first-end annular magnetic component 136, the first-end connecting component 137, the cylindrical oblique electromagnetic module array 122, the first annular fixing component 138, the second annular fixing component 139, the outer shell 140, and the second-end annular magnetic component 141 constitute a cylindrical assembly, with the connecting component, fixing component, and outer shell maintaining the position of each component.

[0239] like Figure 16 As shown, the axial electromagnetic actuator disk 120 and the axial permanent magnet assembly disk 121 are arranged opposite each other. The first disk-shaped support 142, the annular spacer support 143, and the second disk-shaped support 144 maintain an assembly relationship, forming an axial magnetic working gap between the working surfaces. The modules are arranged at corresponding positions along the disk surface, and the axial and circumferential action projections are determined by the local normal and the reference tangent.

[0240] The local normal of the axial configuration corresponds to the axial direction, and the reference tangent corresponds to the circumferential direction of the disk surface. When independent electromagnetic groups are used, the electrical connections and controls are implemented according to Example 4, and the load constraints take into account the axial resultant force and attitude changes.

[0241] Example 7: Permanent Magnet and Hybrid Modules and Magnetic Field Detection

[0242] (a) Single continuous permanent magnet module

[0243] like Figure 17 A and Figure 17 As shown in Figure B, a single continuous permanent magnet 155 is fixed to the module body 147, which has a mounting base 151 and a fastening interface 152. The complete top surface of the permanent magnet facing the working side forms an independent module magnetic working surface 148. The magnetization direction 156 is inclined relative to the local normal of this working surface, and in... and The magnetization projections on the surface are all non-zero. The physical shape of the magnet can be straight, and the mounting angle, magnetization direction, and magnetic field direction within the observation area are determined separately.

[0244] Figure 17 B in the module is equipped with an independent soft magnetic return component 150 in the shape of a cup, located on the back side and around the permanent magnet, and is fixed to the module body together before installation. Figure 17 In module D, no independent soft magnetic return component 150 is provided. The module body 147 uses non-magnetic materials to retain the magnet and the mounting interface. The cross-sectional lines are used to distinguish structural areas, and whether the material is magnetic is determined by the specific material.

[0245] When using anisotropic sintered permanent magnet materials, the easy magnetization direction should be compatible with the final magnetization direction. One approach is to form the desired orientation during billet preparation, maintain the angular relationship between this orientation and the complete working surface during geometric machining, and then magnetize along the easy magnetization direction. Alternatively, the desired working surface can be machined from a billet with a known orientation and machining allowance. Changing the orientation of the magnetizing fixture itself does not replace the formation of the material orientation.

[0246] Planar Module Design Example

[0247] A floor plan design example using the entire top surface ,thickness A single continuous permanent magnet, the material to be used is sintered NdFeB N42UH, and the design tilt angle of the magnetization direction relative to the positive normal is [value missing]. Self-field observation offset The complete projected area is .

[0248] Configuration 1 uses a non-magnetic aluminum alloy body and does not have an independent soft magnetic return magnetization component 150; Configuration 2 uses a cup-shaped independent soft magnetic return magnetization component 150, with the soft magnetic material designed as DT4C, and the back side is designed with a thickness of [missing information]. The surrounding structure is fixed in a yoke configuration. The magnetic field of each configuration is determined based on its own components.

[0249] The above complete projection is as follows Divide, and obtain There are 300 initial equal-area units, and the area-weighted detection method described in Section (V) of this embodiment is used. The above values ​​are structural and detection design parameters.

[0250] (ii) Magnetization zones in the body of a continuous magnet

[0251] like Figure 18 A and Figure 18 As shown in Figure B, the continuous magnet body 159 includes a local working polarity region 157 and an inclined magnetization region 158. The two regions are located within the same continuous body along the direction shown in the figure, and the material is continuous at the boundary. The magnetization direction of the local working polarity region 157 faces the working side, and the magnetization direction of the inclined magnetization region 158 has both normal and tangential projections. Figure 18 In section B, an independent soft magnetic reflux component 150 is provided. Figure 18 The component D in the diagram is not specified.

[0252] The local working polarity region 157 and the tilted magnetization region 158 are magnetization regions in the hard magnetic body, and the dot demarcation line represents the boundary of the magnetization partition. Figure 18 C in the diagram represents the projection of the complete functional area.

[0253] One continuous partitioned manufacturing method involves using a spatially non-uniform orientation field during the powder forming orientation stage to create an orientation distribution corresponding to two regions. This process includes forming, sintering, heat treatment, and geometric machining. Magnetization is then performed using a magnetic field matched to this orientation distribution. An orientation transition zone can be formed near the boundary, maintaining material continuity. This transition zone is included within the complete functional region.

[0254] The order and field strength of the magnetization zones are coordinated with the material's coercivity, the spatial magnetization field, and the field state of the other zone. When a typical anisotropic preform does not form a corresponding spatial orientation, changing the angles of the two magnetization fixtures is not used to replace the aforementioned zone orientation. Specific orientation transitions and process conditions are determined according to the actual material and processing method.

[0255] In a continuous body design example, the complete top surface is... ,along The direction is set to each of the two areas. The nominal width and the magnetized target are respectively the relative positive normal. and Both zones and the material transition zone are included in the complete projection evaluation. The aforementioned width belongs to the continuous body partition and is not used for the assembly dimensions of the two parts.

[0256] (iii) Two permanent magnets are fixed together

[0257] Another embodiment employs a first permanent magnet and a second permanent magnet, which are arranged side-by-side along a reference tangent in a common module body, with their top surfaces on the complete working sides coplanar and facing the magnetic working gap. The magnetization direction of the first permanent magnet is along... The second permanent magnet component is relative to tilted and in The upper part has a non-zero magnetization projection. Each part is first magnetized according to the material orientation and processing relationship, and then positioned and fixed according to a common reference, maintaining the predetermined orientation before being installed into the whole machine.

[0258] The module body supports and fixes two permanent magnets, with adjacent sides joined together; when using a form with assembly gaps, the two magnets are held in relative positions by the same body. The complete functional area is the union of the top surfaces of the two working sides, excluding the gaps between the parts.

[0259] The two magnetic sources and the built-in magnetic components together form the module's own field, and the field parameters are determined according to the common observation rules and the method in Section (V) of this embodiment.

[0260] (iv) Configuration for testing a single arc-shaped permanent magnet

[0261] Figure 19 This shows the independent detection configuration of an inner rotor-type monolithic arc-shaped permanent magnet with the outward working surface. Figure 19 In this context, A represents the detection setup. Figure 19In the diagram, B represents the observation area and sampling location. The convex arc working side surface of a single continuous permanent magnet 155 constitutes an independent modular magnetic working surface 148. The non-magnetic module body 147 supports and fixes the magnet on the back side, and the mounting reference part 151 determines the clamping reference. This configuration does not include an independent soft magnetic recirculation component 150.

[0262] The diameter of the cylinder containing the outer arc of the magnet is axial length is The circumferential boundary of the cross section is determined by two boundary rays under the same angular reference, with a boundary angle of... and Crossing the zero angle, the complete included angle is:

[0263]

[0264] The origin is taken as the corresponding point at the center of the circumference and the center of the axial direction of the convex arc working surface. , This refers to the outward normal direction facing the working side. The circumferential reference tangent; reference plane 153 follows common rules from Offset of tangent plane Sure.

[0265] The parallel projection of the complete convex arc working surface forms the preset effective working area 154, that is... Let the outer arc radius be... The full circumferential projection width is:

[0266]

[0267] Figure 19 In this context, B represents the width of approximately... axial length The rectangular observation area. The circumferential boundary is determined by the original radius and two boundary rays; This is the axial length.

[0268] This dimensional example is for independent inspection geometry under conditions without a contralateral side, and is not intended as... Example of dimensions for the complete observation area accommodating conditions under radial mounting clearance. The nominal mounting clearance of Example 5 and the complete inspection projection of this example are used respectively.

[0269] The sensitive point 163 of the magnetic field probe 162 is located on the reference plane 153 and moves across the entire area according to the predetermined sampling position. Figure 19 B in the diagram represents a four-row, five-column sampling grid; the outer boundary remains unchanged when increasing the sampling density.

[0270] (v) Detection methods and signed area averaging

[0271] The module is positioned on a non-magnetic support via mounting reference 151, using the self-field evaluation environment described in the common implementation instructions. The measurement coordinates of the triaxial magnetic field probe are transformed to the module's reference coordinates.

[0272] One detection method uses ambient temperature Electromagnetic test current is taken In the formula The rated continuous current is predetermined based on the corresponding conductor, insulation, and continuous energizing conditions; when hour, The hybrid module is measured in both states as described in Section (VI) of this embodiment.

[0273] by This represents the position vector within the observation plane. This represents the module's own magnetic flux density at that location. Two local components and the entire... The average area on is:

[0274]

[0275]

[0276] The two area averages retain their positive and negative signs. Local areas with opposite signs and edges within the complete region are included in the integration. Absolute value averages or root mean squares are not used as substitutes.

[0277] When performing discrete measurements, the complete Divided into areas of The sampling unit is sampled according to a pre-defined unit center or integration position. Let... For the number of units, ,but:

[0278]

[0279] Equal-area grids use the same weights, and boundary cells are weighted according to their actual area; when refining edges or regions with changed signs, the original region and total area are preserved. When using field calculations, integration is performed over the same complete region and its own field conditions.

[0280] (vi) Hybrid module with both permanent magnet and electromagnetic fixing

[0281] like Figure 20 As shown, the permanent magnet part and the electromagnetic excitation part are fixed together on the same module body 147.

[0282] From the working side to the back side, the components are, in sequence, an independent modular magnetic working surface 148, a single continuous permanent magnet 155, an insulating structure 107, a common return conductor group 113, an insulating structure 107, an effective current-carrying strip group 112, an insulating structure 107, and the back support portion of the module body 147. The module body 147 adopts a flat-bottom support form, with a mounting base 151 and a fastening interface 152, but no independent soft magnetic return magnetizing component 150. The magnetization direction 156 indicates the tilt magnetization direction of the permanent magnet.

[0283] Insulation structure 107 separates the permanent magnet from the conductor, conductors at different potentials, and the conductor from the module body. A first external electrical connection terminal 108 extends from the end where the first-end shunt connector 110 is located, and a second external electrical connection terminal 109 extends from the end where the second-end return connector 111 is located. A second-end turning busbar 114 is located at the second end of the effective current-carrying strip and connects to the entrance of the common return conductor group 113. The interlayer distances in the exploded view are used to show the layer positions and do not indicate assembly gaps.

[0284] The electromagnetic excitation conductor group 161 adopts the eight effective current-carrying strips, six return conductors and end-to-end connection relationship of Section (I) of Embodiment 2.

[0285] In this embodiment, the complete top surface of a single continuous permanent magnet 155 facing the working side is designated as the complete functional area of ​​the hybrid module. This top surface along... Project to press The defined reference plane 153 yields the same result. When the electromagnetic components are not energized, the conductors, insulation, supports, and permanent magnets remain intact; when a specified DC current is applied, the aforementioned structures, areas, and observation positions remain unchanged.

[0286] The hybrid module satisfies two non-zero field conditions for its own field area average components under both unpowered and specified DC conditions. When unpowered, the bias field is formed by the permanent magnet component; when powered, the self-field is formed by the permanent magnet component and the complete electromagnetic path. Specific local polarity is determined according to Example 1. The field values ​​for both states are determined based on the actual coupling relationship.

[0287] Example 8: Same-pole repulsive fit structure of rotors with different windings and permanent magnets

[0288] like Figure 21 As shown, different external stator windings and permanent magnet rotor installation forms are combined through magnetization configuration, winding wiring and excitation control to form a magnetic working gap 105 between the two working surfaces.

[0289] Figure 21 In the example, A uses an external stator conductive coil winding module 164. Figure 21In this configuration, module B uses an outer stator conductive flat wire winding module 165. Two types of outer stator windings are radially opposite to the inner ring oblique permanent magnet assembly 117. The outer stator windings are fixed to the stator side, while the inner ring oblique permanent magnet assembly 117 is mounted on the inner rotor side. The outer stator windings are divided into electromagnetic groups according to corresponding local working areas, and their wiring and excitation states match the local working polarity of the inner ring oblique permanent magnet assembly 117 facing the magnetic working gap 105. The oblique module in the inner ring oblique permanent magnet assembly 117 belongs to the first magnetic action unit, and the outer cooperating winding belongs to the second magnetic action unit.

[0290] Figure 21 The C in the design employs a V-shaped embedded permanent magnet internal rotor 166. Figure 21 The D component employs a surface-mount permanent magnet internal rotor 167, which is respectively opposite to the third annular magnetoelectric assembly 118 fixed radially outward. The outer-side focusing Halbach permanent magnet array 168 is mounted using both embedded V-shaped and outer peripheral surface mounting methods, with the focusing side facing the magnetic working gap 105. The oblique magnetic field execution module in the third annular magnetoelectric assembly 118 belongs to the first magnetic action unit, while the inner permanent magnet structure belongs to the second magnetic action unit.

[0291] The above configuration determines the polarity and force relationship of the corresponding local areas according to Embodiment 1. At each predetermined driving position and its corresponding excitation state, each pair of corresponding local areas participating in the drive are either both N poles or both S poles, and opposite poles attracting each other is not used as the driving coordination method for the corresponding predetermined driving positions. The winding connections, magnetization configuration, and group excitation adopted are adapted to the above relationships.

[0292] Each electromagnetic group adopts the interface, allowable excitation range, and current establishment, attenuation, and handover arrangement of Example 4; the local same-pole relationship and tangential action direction are checked respectively.

Claims

1. A magnetoelectric actuator with opposite poles and oblique orientation, comprising a first magnetic action unit and a second magnetic action unit capable of relative movement, wherein the magnetic working surfaces of the two magnetic action units are arranged facing each other with a magnetic working gap between them, characterized in that: The first magnetic action unit includes an oblique magnetic field execution module, and the second magnetic action unit includes a permanent magnet structure, an electromagnetic execution structure, or a combination of permanent magnet and electromagnetic structures that cooperate with the oblique magnetic field execution module. The oblique magnetic field execution module includes a module body, a magnetic working surface, and a magnetic source assembly fixed to the module body. The module body is provided with a mounting reference part and a fastening interface. The magnetic source assembly and the module body form a fixed assembly that can be installed independently and maintain a predetermined orientation relative to the mounting reference part. The installation reference part includes a positioning reference surface, a reference point, and a directed reference line. The position of the reference point projected onto the magnetic working surface along the local normal of the magnetic working surface is taken as the local coordinate origin. The positioning reference surface determines the local unit normal at this origin towards the magnetic working gap. The reference unit tangent is determined by the normalization of the non-zero projection of the directed baseline onto the tangent plane of the magnetic working surface at the origin. The and Compared to a fixed module, it is not derived from the magnetic field evaluation results, nor does it change with the target movement direction in the operation command; The magnetic working surface has a complete functional area defined by the module structure. The boundary of the area and its position relative to the mounting reference part are determined by the identifiable structural edges on the module and the corresponding geometric dimensions. The pure permanent magnet form uses a single continuous permanent magnet or a complete top surface of a continuous magnet body facing the gap, or a union of multiple complete top surfaces of permanent magnet components facing the gap, excluding gaps between components that do not belong to any of the aforementioned top surfaces; the pure electromagnetic form uses the working side surface area enclosed by the actual complete outer contour of the magnetic working surface, the outer contour being determined by the intersection line of the magnetic working surface with the side surface, end face, or retreating step, and the insulation and gap corresponding areas between conductors within the outer contour are also included; the form where permanent magnet and electromagnetic coexist uses the same complete functional area on the magnetic working surface of the module, the boundary of the complete functional area being determined by the structural edge and geometric dimensional relationship; The complete functional area along The complete projection onto the predetermined observation plane constitutes the working observation area. The predetermined observation plane is parallel to the cutting plane, and the position of the observation plane relative to the mounting reference part is determined by a predetermined normal offset dimension; the working observation area and the observation plane are fixed relative to the module and move with the module, and are not changed or cut according to the magnetic field evaluation results or relative position; Under the condition of retaining the entire structure of the module, without setting a second magnetic action unit or external additional magnetic components for enhancing or deflecting the magnetic field, the magnetic flux density formed by the magnetic source assembly and the module's own magnetic components is... Throughout Average component of normal area on and the average component of the tangential area Both are non-zero, and the two average area components are as follows: ； ； In the formula, for The area; The evaluation state for the pure permanent magnet form is that no external excitation current is applied. The evaluation state for the form containing electromagnetic excitation conductors is that a stable DC current is applied according to the specified terminal polarity and specified current amplitude. The specified current amplitude is a non-zero value determined before the magnetic field evaluation and remaining unchanged during the evaluation process. The two area average components are provided by the magnetic field generated by the tilted magnetization or tilted excitation of the same magnetic action area, or are formed by the magnetic fields generated by multiple permanent magnet magnetic action areas fixed in the same module body. The installation relationship between the first magnetic action unit and the second magnetic action unit, the installation magnetic action relationship, and the allowable current when the electromagnetic actuator structure is included jointly determine at least one predetermined driving action position and the excitation state corresponding to each position. In any of the predetermined driving action positions and their corresponding excitation states, the pairs of corresponding local areas that are actually facing each other, determined by the structure of the two working surfaces and the relative installation positions, are either both N poles or both S poles, forming a local same-pole relative relationship. The local polarity of each side is determined according to the magnetic field generated by the magnetic source of that side on the gap side of the corresponding local working surface relative to the outward normal direction towards the gap. The field emitted into the gap is the N pole, and the field incident into that side is the S pole. The local polarity determination retains the magnetic components of each side and adopts the corresponding excitation state. When permanent magnet and electromagnetic coexist, the field formed by the two parts on that side is examined, and the polarity of the two sides is not determined separately by the combined field of the two installations. Under the same installed state described above, the resultant magnetic force acting on the first magnetic action unit simultaneously has a force along the described... The normal component in the opposite direction, towards the direction that increases the magnetic working gap, and along the direction described The tangential component with a non-zero projection; The normal component is used to provide normal support or unloading, and the projection sign of the tangential component is consistent with the predetermined driving direction corresponding to the predetermined driving position. The predetermined driving direction is... The positive or negative direction.

2. The same-pole opposite oblique magnetoelectric actuation component according to claim 1, characterized in that, The magnetic source component of the oblique magnetic field execution module includes a single continuous permanent magnet with a single magnetization direction, the single magnetization direction being relative to the local unit normal of the magnetic working surface. Tilt, and in the Tangential to reference unit The projections onto the surface are all non-zero.

3. The same-pole opposite oblique magnetoelectric actuation component according to claim 1, characterized in that, The magnetic source component of the oblique magnetic field execution module has a first permanent magnet magnetic action region and a second permanent magnet magnetic action region. The magnetization direction of the first permanent magnet magnetic action region is along the local unit normal, and the magnetization direction of the second permanent magnet magnetic action region is inclined relative to the local unit normal and has a non-zero projection in the reference unit tangential direction. The two permanent magnet magnetic action regions are formed by two regions with different magnetization directions and no mechanical splicing interface within the same continuous magnet body, or by a first permanent magnet component and a second permanent magnet component that are jointly fixed to the module body. The magnetic fields generated by the two permanent magnet magnetic action regions respectively form the normal area average component and the tangential area average component within the working observation area.

4. The same-pole opposite oblique magnetoelectric actuation component according to claim 1, characterized in that, The oblique magnetic field execution module adopts one of the following structures: an independent soft magnetic return component is provided that is magnetically coupled to the magnetic source component. The independent soft magnetic return component is located on the side of the magnetic source component away from the magnetic working surface, on the periphery, or simultaneously on the back side and the periphery, and is fixed to the module body together with the magnetic source component; or, no independent soft magnetic return component is provided, and the module body adopts a non-magnetic support structure.

5. The same-pole opposite oblique magnetoelectric actuation component according to claim 1, characterized in that, The magnetic source component of the oblique magnetic field execution module includes an electromagnetic excitation conductor group and a first external electrical connection terminal and a second external electrical connection terminal. The two terminals respectively constitute the two external terminals of the electromagnetic excitation conductor group, which are used to connect to an external power conversion branch to provide a drive input interface and an induced power output interface. The first external electrical connection terminal is connected to the first end of at least two parallel effective current-carrying strips at the shunt node via a first-end shunt connector. The second ends of each effective current-carrying strip converge at the busbar node via a second-end turning busbar. After convergence, the current flows through a common return conductor group and a second-end return connector to the second external electrical connection terminal. With the first external electrical connection terminal as the current input terminal as the reference direction, the common return conductor group is located downstream of the busbar node and carries the return current after the convergence of each effective current-carrying strip. The conductor, connector, and external terminal are fixed to the same module before installation and form an end-to-end continuous conductive path. The working current does not return through the casing, the back yoke of the whole machine, or adjacent modules.

6. The same-pole opposite oblique magnetoelectric actuation component according to claim 1, characterized in that, The magnetic source assembly of the oblique magnetic field execution module includes a permanent magnet part and an electromagnetic excitation part that are both fixed to the module body. The electromagnetic excitation part has a first external electrical connection terminal and a second external electrical connection terminal that are led out from the module. When the entire module structure is retained and the electromagnetic excitation part is not energized, the permanent magnet part adopts tilted magnetization of the same magnetic action area, or adopts the method of forming a non-zero normal area average magnetic flux density component and a non-zero tangential area average magnetic flux density component in the working observation area. The electromagnetic excitation part provides controlled excitation increment under the specified terminal polarity and specified current amplitude. The module's own field in the stable DC excitation state satisfies the condition that both area average components are non-zero as described in claim 1. The unenergized state and the stable DC excitation state adopt the same module structure, the same complete functional area and the same working observation area.

7. The same-pole opposite oblique magnetoelectric actuation component according to claim 1, characterized in that, The positioning reference surface is used to fit with the external carrier or support to determine the local unit normal, the directional reference line is used to align with the installation reference direction to determine the reference unit tangent, and the fastening interface is used to fix the module positioned according to the installation reference part; The predetermined observation plane is defined as a reference plane for the magnetic working surface tangent plane at the local coordinate origin, offset by a predetermined distance along the local unit normal. The obtained reference plane, The normal observation offset distance for its own field evaluation; the complete projection of the complete functional area onto the reference plane constitutes the preset effective working area. The With the aforementioned working observation area For the same area; during self-field evaluation, the module is positioned on the non-magnetic support according to the installation reference part, and retains the magnetic components belonging to the module itself.

8. The same-pole opposite oblique magnetoelectric actuation component according to claim 5, characterized in that, The first magnetic action unit is a purely electromagnetic module located radially outward, and the second magnetic action unit includes a permanent magnet structure located radially inward. The purely electromagnetic module employs a non-magnetic support and a non-magnetic insulating coating, and does not have a soft magnetic core or independent soft magnetic return component. The magnetic working surface is a complete inward-facing cylindrical arc surface of the insulating coating, with a cylinder radius of [missing information]. The complete inward cylindrical arc surface, bounded by two axial side edges and two axial end edges, has a tangential width of its complete projection along the local unit normal as follows: axial length is The side and end edges are connected to the mounting support via steps that recede towards the back of the module. The insulation and gap areas between the strips within the boundary are all included in the complete functional area. The effective current-carrying strips are three parallel strips arranged axially, each strip having a tangential width of [missing information]. Radial thickness is The interval between adjacent stripes is The common return conductor group has a tangential width of Radial thickness is The module consists of an integrated common return conductor; with the tangent plane at the center of the magnetic working surface as the distance reference, the distances from the centers of the three effective current-carrying strips and the center of the common return conductor to the back side of the module are respectively... and The tangential center of the common return conductor is offset relative to the tangential center of the strip group consisting of three effective current-carrying strips along the positive direction of the reference unit tangential. .

9. A magnetoelectric dynamic system, comprising a first moving component and a second moving component capable of relative motion, characterized in that, The system includes the same-pole opposite oblique magnetoelectric actuation component as described in claim 1, wherein the first magnetic action unit and the second magnetic action unit are respectively installed on the first moving component and the second moving component, and the oblique magnetic field actuation module is positioned according to its own mounting reference part, with the magnetic working surface facing the magnetic working gap between the two magnetic action units. For the A slanted magnetic field execution module will, according to the rules described in claim 1, define the complete functional region along the local unit normal of the module. The entire projection is onto the installation observation plane parallel to the tangent plane of the magnetic working surface at the local coordinate origin of the module to obtain the local observation area. The position of the installation observation plane relative to the module mounting reference part is determined and kept fixed before the magnetic field evaluation. The module moves with the user; at any predetermined driving position as described in claim 1, the entire... Located within the actual magnetic working gap; At the predetermined driving position and its corresponding excitation state, the combined magnetic flux density formed by the actual magnetic sources on both sides and the installed magnetic components is retained throughout the entire process. The above is relative to the above and the tangential reference unit of this module The average components of the normal area and the average components of the tangential area are both non-zero. The synthesized field of the installed equipment and the field of the module itself as described in claim 1 are determined at their respective observation positions and under specified conditions.

10. The magnetoelectric dynamic system according to claim 9, characterized in that, The system adopts one of the following configurations: an axial disc configuration in which two moving components are arranged opposite each other with an axial magnetic working gap and can rotate relative to each other around a rotating axis; a cylindrical or ring configuration in which two moving components are arranged opposite each other with a radial magnetic working gap; a linear configuration in which relative motion is guided along a straight line; or a spherical configuration in which two moving components are arranged opposite each other with a spherical magnetic working gap; multiple oblique magnetic field actuation modules are arranged along the circumferential, axial, linear, or spherical grid directions corresponding to the adopted configuration; at the predetermined driving position and its corresponding excitation state, the corresponding local areas on both sides maintain the local same-pole relative relationship; when the module with the electromagnetic excitation conductor group is installed on the rotating side, it is connected to the corresponding electrical unit through a rotary power supply interface.

11. The magnetoelectric dynamic system according to claim 9, characterized in that, The system also includes an electromagnetic group with an independent excitation interface. The electromagnetic group is composed of a module in the oblique magnetic field execution module that has an electromagnetic excitation conductor group and an external electrical connection terminal, or is composed of an electromagnetic execution structure that cooperates with the permanent magnet module in the oblique magnetic field execution module through a magnetic working gap. The electromagnetic execution structure includes an excitation conductor and electrical terminals. Each electromagnetic group is connected to an independently controlled power conversion branch through the electrical terminals of its own group.

12. The magnetoelectric dynamic system according to claim 11, characterized in that, The power conversion branch connects to the DC power supply interface and the power receiving device, which is an energy storage device, load, or bidirectional power supply device capable of receiving feedback power. The system also includes a control unit, which controls each power conversion branch and independently controls each electromagnetic group to a driving state, a power generation state, or a standby state. The group in the driving state adopts the corresponding excitation state at the corresponding predetermined driving position. When the power generation mode is selected, one, more, or all groups are put into the power generation state. The group in the power generation state uses relative motion to cause a change in the coupling magnetic flux of the complete conductive path of the group, and outputs power to the power receiving device through the corresponding power conversion branch.

13. A method for grouping and excitation of a co-polar, obliquely oriented magnetoelectric actuator assembly, the assembly comprising a first magnetic action unit and a second magnetic action unit capable of relative movement, the magnetic working surfaces of the two magnetic action units being arranged facing each other with a magnetic working gap between them, the first magnetic action unit comprising an oblique magnetic field actuator module, characterized in that: The electromagnetic group is composed of a module with an electromagnetic excitation conductor and electrical terminals in the oblique magnetic field execution module, or an electromagnetic execution structure that cooperates with the permanent magnet module in the oblique magnetic field execution module through a magnetic working gap; each electromagnetic group has a first electrical terminal and a second electrical terminal, which respectively constitute the two external terminals of the complete conductive path of the electromagnetic group; each electromagnetic group has an independent excitation interface and is connected to an independently controlled power conversion branch; the method includes: Acquire the relative position, relative speed, target direction of motion, force or torque command, and actual terminal current of each electromagnetic group and its corresponding magnetic action area; determine the allowable excitation range based on the total installed force or torque relationship and the allowable current, according to the predetermined drive action position and its corresponding excitation state; select the electromagnetic groups participating in the excitation within the allowable excitation range and adjust the current amplitude of each electromagnetic group; The direction of the current flowing into the first electrical terminal and out of the second electrical terminal of each electromagnetic group is taken as the reference positive direction, which is fixedly determined by the terminal wiring of this electromagnetic group; the first electromagnetic group is defined according to the reference positive direction. Actual terminal current of each electromagnetic group Control during excitation and de-deceleration periods In the formula The upper limit of the allowable current for the electromagnetic group is set; based on the establishment and decay process of the actual terminal current of each electromagnetic group, the entry time, exit time and handover sequence of the electromagnetic group corresponding to the allowable excitation interval are arranged.

14. The group excitation connection method according to claim 13, characterized in that, The actual terminal current of each electromagnetic group is detected in the power conversion branch corresponding to that group, and the terminal voltage between the first and second electrical terminals of that group is detected. The current detection path reflects the terminal current of the corresponding group under the power supply, freewheeling, and controlled demagnetization states in which the method is actually executed, and uses the detection results for current feedback regulation of the group.

15. The group excitation connection method according to claim 13, characterized in that, When determining the allowable excitation range, additional load constraints are taken into account; when selecting a current combination, the tangential force or torque and the normal, radial or attitude additional loads are checked simultaneously for the same stressed object. If the additional load constraints are not met, the current combination is restricted or controlled shutdown is initiated.

16. A grouping power generation control method for a pair of obliquely oriented magnetoelectric actuators, the actuators comprising a first magnetic action unit and a second magnetic action unit capable of relative movement, the magnetic working surfaces of the two magnetic action units being arranged facing each other with a magnetic working gap between them, the first magnetic action unit comprising an oblique magnetic field actuation module, characterized in that: The electromagnetic group is composed of a module with an electromagnetic excitation conductor and electrical terminals in the oblique magnetic field execution module, or an electromagnetic execution structure that cooperates with the permanent magnet module in the oblique magnetic field execution module through a magnetic working gap; each electromagnetic group has a first electrical terminal and a second electrical terminal, which respectively constitute the two external terminals of the complete conductive path of the electromagnetic group; each electromagnetic group has an independent excitation interface and is connected to an independently controlled power conversion branch; the method includes: Acquire the relative position, relative speed, operating mode command, and actual terminal current and voltage of each electromagnetic group and its corresponding magnetic action area; determine the allowable power generation range and select the electromagnetic group to enter the power generation state based on the installed induced electromotive force relationship, the installed total force or total torque relationship, the allowable current and the external power receiving capacity. The selected electromagnetic group forms a closed output path with the external power receiving device through the corresponding power conversion branch. The relative motion between the electromagnetic group and the cooperating magnetic action area causes a change in the coupling magnetic flux of the complete conductive path of the electromagnetic group, thereby generating an induced electromotive force, and outputting electrical energy through the closed output path. The direction of the current flowing into the first electrical terminal and out of the second electrical terminal of each electromagnetic group is taken as the reference positive direction. This reference positive direction is fixedly determined by the terminal wiring of this electromagnetic group. The first electromagnetic group is defined according to this direction. Actual terminal current of each electromagnetic group The terminal voltage is defined by the potential difference between the first electrical terminal and the second electrical terminal. Control during power generation output In the formula The upper limit of the allowable current for this electromagnetic group is set; the start and end rules of the average time period are determined before the selected electromagnetic group enters the power generation state, and the port power is set within the average time period determined according to the rules. The time average is negative; when the power receiving end reaches the allowable voltage or the upper limit of the receiving current, the current target of the corresponding electromagnetic group is reduced and exit control is executed.

17. The group power generation control method according to claim 16, characterized in that, When power generation is stopped, the current target is reduced, the corresponding power conversion branch is controlled to provide a negative terminal voltage that causes the positive terminal current to decay, and the continuous current or controlled demagnetization path is kept open during the decay of the positive terminal current. After the forward terminal current decays to zero, the controllable bidirectional blocking switch connected in series in the branch of the group of terminals is turned off to prevent the reverse terminal current from building up.

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